Skin stretch feedback devices, systems, and methods

ABSTRACT

Embodiments of the present disclosure relate devices, systems, methods, and for displaying information about the direction and magnitude of position, movement, and/or resistive force experienced for an object. The present disclosure also provides a shear display device that can generate skin shear with one or more tactors, each moving in a two- or three-dimensional space. The movement of the tactors can represent to a user various information about an object.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application is a continuation-in-part and claims the benefitof and priority to: Patent Cooperation Treaty Application No.PCT/US13/32053, filed Mar. 15, 2013, entitled “SKIN STRETCH FEEDBACKDEVICES, SYSTEMS, AND METHODS”; U.S. Provisional Patent Application No.61/659,421, filed Jun. 13, 2012, entitled “SKIN STRETCH FEEDBACKDEVICES, SYSTEMS, AND METHODS”; U.S. Provisional Application No.61/659,452, filed Jun. 14, 2012, entitled “SKIN STRETCH FEEDBACKDEVICES, SYSTEMS, AND METHODS”; U.S. Provisional Application No.61/660,162, filed Jun. 15, 2012, entitled “SKIN STRETCH FEEDBACKDEVICES, SYSTEMS, AND METHODS”; and U.S. Provisional Application No.61/961,586 filed Oct. 18, 2013. The entire content of each of theabove-referenced applications is incorporated herein by this reference.

BACKGROUND

The field of haptics is the science of interfacing with users via thesense of touch by applying forces, vibrations, or motions to a user.Haptic devices are increasingly used to provide a user with sensoryinput that conveys information about the surrounding environment. Forinstance, a haptic device can produce vibratory motions to provide theuser, through his or her sense of touch, with various types ofinformation. Haptic devices are commonly used in the field of gaming toprovide sensory cues related to the user's environment.

Ordinarily, haptic devices are integrated into controllers (e.g.,joystick), so the user can receive haptic feedback that relates tomovements of the controller and/or an object being controlled. Typicalhaptic devices provide vibratory or force stimuli to display informationto the user. In some instances, however, such stimuli can interfere withthe user's ability to accurately and/or safely manipulate the controllerthat provides such haptic feedback. For example, force feedback on acontroller that is used to operate a crane can result in unintendedmovements of the user's hand, which may, in turn, move the controller toan unintended position, thereby causing an accident. Similar resultsoccur in video games when utilizing a force feedback joystick to controlgame play; however, this resulting loss of control has less catastrophicconsequences. Hence, in some instances, vibration feedback andespecially force feedback may reduce safety of operation of a controllerthat integrates such haptic feedback mechanisms. This is especially ofconcern in safety critical applications, such as robotic surgery orcatheterization. Such concerns are the reason why force feedback of tooltip forces are not currently permitted in robotically enabled surgicalapplications.

Accordingly, there is a need for skin stretch feedback devices, systems,and methods.

BRIEF SUMMARY

Embodiments of the present disclosure provide devices, systems, andmethods for displaying information about direction of movement, speed,resistive force experienced, other aspects of movement for an object, orcombinations thereof. The device can also be used to display or feedbacka wide variety of information that has magnitude and/or directionassociated with it (e.g., temperature, motion, pressure, force, volume,proximity, other information, or combinations thereof) or give guidanceabout where a person should move (e.g., to push forward on an aircraftcontrol stick to prevent stall from occurring). More specifically, thepresent disclosure provides a shear display device that can generateskin shear with one or more tactors moving in a two- orthree-dimensional space. The movement of the tactors can represent to auser various aspects of an object (e.g., object being controlled by theuser or a controlled object).

At least one embodiment of the present disclosure includes a sheardisplay device for displaying tactile information and cues to a user.Such the device may include a body, a first motor and a crank coupled tothe first motor. The device also may include a slider slidablypositioned within the body, a first end of the slider being coupled tothe crank in a manner that rotation of the first motor produces a linearmovement of the slider. In addition, the device may include a tactorcoupled to the slider.

One or more embodiments may include another shear display device fordisplaying tactile information and cues to a user. The device mayincorporate a body, a first actuator assembly at least partially locatedwithin or secured to the body, the actuator assembly. The actuatorassembly may include a sliding housing, a first motor secured to thesliding housing, a worm coupled to the first motor, and one or moregears engaged with the worm, the one or more gears being orientedsubstantially orthogonally relative to the worm. Additionally, theactuator assembly may include a cam coupled to the one or more gears,wherein the body includes a slot configured to accept the cam in amanner that rotation of the cam within the slot and produces movement ofthe sliding housing relative to the body. Moreover, the device mayinclude a first tactor coupled to the sliding body in a manner that thefirst tactor can move relative to the body.

In addition, embodiments of the present disclosure may include yetanother shear display device for displaying tactile information and cuesto a user. The device may have a body sized and configured to be graspedby the user's hand and an actuator assembly at least partially locatedwithin or secured to the body. The actuator assembly may include amotor, a crank coupled to the motor, and a flexible spine having a firstend coupled to the crank in a manner that rotation of the motor in aclockwise direction moves the flexible spine in a first direction androtation of the crank in a counterclockwise direction moves the flexiblespine in a second direction that is opposite to the first direction. Thedevice also may include a first tactor coupled to a second end of theflexible spine in a manner that the flexible spine moves the firsttactor in the first and second directions.

Yet another embodiment of the present disclosure may include one othershear display device for displaying tactile information and cues to auser. The device may have a body and a first tactor having a first area,the first tactor being positioned and oriented relative to the body toengage a portion of the user's skin having a first density ofmechanoreceptors. The device also may include a second tactor having asecond area, the second tactor being positioned and oriented relative tothe body to engage a portion of the user's skin having a second densityof mechanoreceptors. Furthermore, the second area may be greater thanthe first area, and the first density of mechanoreceptors may be greaterthan the second density of mechanoreceptors.

Embodiment also may include still one other shear display device fordisplaying tactile information and cues to a user. The device mayincorporate a body having an elongated portion and a first tactorpositioned along the elongated portion of the body, the first tactorbeing movable along a length of the elongated portion of the body. Thedevice also may have a second tactor positioned along the elongatedbody, the second tactor being movable along the length of the elongatedportion of the body, the second tactor being opposite to the firsttactor. In addition, the device may include a third tactor positionedalong the elongated body, the third tactor being movable along thelength of the elongated portion of the body. In addition, the device mayinclude a fourth tactor positioned along the elongated body, the fourthtactor being movable along the length of the elongated portion of thebody.

Additional or alternative embodiments may include one other sheardisplay device for displaying tactile information and cues to a user.The device may have a body and a first tactor having a first area, thefirst tactor being positioned and oriented relative to the body toengage a portion of the user's skin having a first density ofmechanoreceptors. The device also may include a second tactor having asecond area, the second tactor being positioned and oriented relative tothe body to engage a portion of the user's skin having a second densityof mechanoreceptors. Furthermore, the first area may have a firstproportion relative to the first density of mechanoreceptors, while thesecond area may have a second proportion relative to the second densityof mechanoreceptors. In addition, the first proportion and the secondproportion may be approximately the same. One or more embodiments mayinclude a control system for controlling an object and receiving tactilefeedback about the movement of the object, forces experienced by theobject, torques experienced by the object, and combinations thereof. Thesystem may include a shear display device including, which may have abody, an actuator assembly at least partially located with or secured tothe body, and a first tactor coupled to the actuator assembly, the firsttactor being movable in a two-dimensional or a three-dimensional spaceby the actuator assembly. The system also may include a controlleroperably connected to the shear display device, the controller beingconfigured to receive instructions from the shear display device and tocommunicate the instructions to a controlled object.

Embodiments of the present disclosure also may involve a method fordisplaying movement information related to one or more objects as wellas information about torque or rotational motion experienced thereby.The method may include receiving information about one or more ofrotation of an object and torque experienced by the object, isolating afirst portion of a user's skin relative to a body of a shear displaydevice, and moving a first tactor of the shear display device in a firstdirection along a linear path, the first tactor being in contact withthe isolated first portion of the user's skin. The method also mayinclude isolating a second portion of a user's skin relative to a bodyof the shear display device and moving a second tactor of the sheardisplay device in a second direction along a linear path, the secondtactor being in contact with the isolated second portion of the user'sskin, the second direction being opposite to the first direction.

Also, embodiments may include a method for displaying information abouta change in size of an object. The method may include receivinginformation about the change in size of the object, isolating a firstportion of a user's skin relative to a body of a shear display device,and moving a first tactor of the shear display device in a firstdirection along a linear path, the first tactor being in contact withthe isolated first portion of the user's skin. The method also mayinclude isolating a second portion of a user's skin relative to a bodyof a shear display device and moving a second tactor of the sheardisplay device in a second direction along a linear path, the secondtactor being in contact with the isolated second portion of the user'sskin, the second direction being opposite to the first direction andaway from or towards the first tactor.

The methods described herein may be performed by a processor, such as amicroprocessor. For example, at least one method described herein may beencoded in instructions that are executable by a processor and/or may bestored in a computer readable medium and/or computer storage device.

Additional features and advantages of exemplary implementations of thedisclosure will be set forth in the description which follows, and inpart will be obvious from the description, or may be learned by thepractice of such exemplary implementations. The features and advantagesof such implementations may be realized and obtained by means of theinstruments and combinations particularly pointed out in the appendedclaims. These and other features will become more fully apparent fromthe following description and appended claims, or may be learned by thepractice of such exemplary implementations as set forth hereinafter.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to describe the manner in which the above-recited and otheradvantages and features of the disclosure can be obtained, a moreparticular description of the disclosure briefly described above will berendered by reference to specific embodiments thereof which areillustrated in the appended drawings. For better understanding, the likeelements have been designated by like reference numbers throughout thevarious accompanying figures. Understanding that these drawings depictonly typical embodiments of the disclosure and are not therefore to beconsidered to be limiting of its scope, the disclosure will be describedand explained with additional specificity and detail through the use ofthe accompanying drawings in which:

FIG. 1A illustrates a perspective view of a shear display device inaccordance with one embodiment of the present disclosure;

FIG. 1B illustrates an exploded perspective view of the shear displaydevice of FIG. 1A;

FIG. 2A illustrates a perspective view of a shear display device inaccordance with another embodiment of the present disclosure;

FIG. 2B illustrates a perspective view of an actuation mechanism inaccordance with one embodiment of the present disclosure;

FIG. 2C illustrates a bottom perspective view of an actuator assemblythat incorporates the actuation mechanism of FIG. 2B;

FIG. 2D illustrates a top perspective view of an actuator assembly thatincorporates the actuation mechanism of FIG. 2B;

FIG. 3A illustrates a perspective view of an actuator assembly inaccordance with one or more embodiments of the present disclosure;

FIG. 3B illustrates a side view of the actuator assembly of FIG. 3A;

FIG. 4 illustrates a perspective view of a shear display device inaccordance with yet another embodiment of the present disclosure;

FIG. 5 illustrates a perspective view of a shear display device inaccordance with still one other embodiment of the present disclosure;

FIG. 6 illustrates a perspective view of a shear display device inaccordance with one or more embodiments of the present disclosure;

FIG. 7A illustrates a perspective view of a shear display device inaccordance with yet one other embodiment of the present disclosure;

FIG. 7B illustrates a partial cutaway perspective view of the sheardisplay device of FIG. 7A;

FIG. 8 illustrates a perspective view of a shear display device inaccordance with still one other embodiment of the present disclosure;

FIG. 9 illustrates a perspective view of a shear display device inaccordance with one or more embodiments of the present disclosure;

FIG. 10A illustrates a perspective view of a shear display device inaccordance with an embodiment of the present disclosure;

FIG. 10B illustrates a top cutaway view of a shear display device inaccordance with an embodiment of the present disclosure;

FIG. 11 illustrates a perspective view of a shear display device inaccordance with at least one other embodiment of the present disclosure;

FIG. 12 illustrates a perspective view of a control system thatincorporates a shear display device in accordance with one embodiment ofthe present disclosure;

FIG. 13 illustrates a chart of acts of a method of displayinginformation via tactile cues in accordance with one embodiment of thepresent disclosure;

FIG. 14A is a perspective view of a shear display device having foursliding tactors in accordance with at least one embodiment of thepresent disclosure;

FIG. 14B is a perspective view of a shear display device having threesliding tactors in accordance with at least one embodiment of thepresent disclosure;

FIG. 14C is a perspective view of a shear display device having threesliding tactors in accordance with at least one other embodiment of thepresent disclosure;

FIG. 14C-2 is a front view of the shear display device of FIG. 14C;

FIG. 14C-3 is a right side view of the shear display device of FIG. 14C;

FIG. 14C-4 is a top view of the shear display device of FIG. 14C;

FIG. 14C-5 is a bottom view of the shear display device of FIG. 14C;

FIG. 14C-6 is a back view of the shear display device of FIG. 14C;

FIG. 14C-7 is a left side view of the shear display device of FIG. 14C;

FIG. 14D is a perspective view of a shear display device having twosliding tactors in accordance with at least one other embodiment of thepresent disclosure;

FIG. 14D-2 is a front view of the shear display device of FIG. 14D;

FIG. 14D-3 is a right side view of the shear display device of FIG. 14D;

FIG. 14D-4 is a top view of the shear display device of FIG. 14D;

FIG. 14D-5 is a bottom view of the shear display device of FIG. 14D;

FIG. 14D-6 is a back view of the shear display device of FIG. 14D;

FIG. 14D-7 is a left side view of the shear display device of FIG. 14D;

FIG. 15A illustrates a system including a plurality of shear displaydevices fixed relative to one another in accordance with at least oneembodiment of the present disclosure;

FIG. 15B is a perspective view of the system of FIG. 15A;

FIG. 16 illustrates a shear display device selectively connectable to acontrol interface in accordance with at least one embodiment of thepresent disclosure;

FIG. 17 illustrates a system including a plurality of connected sheardisplay devices having multiple degrees of freedom relative to oneanother in accordance with at least one embodiment of the presentdisclosure;

FIG. 18 illustrates a precision grip shear display device with opposingshear feedback in accordance with at least one embodiment of the presentdisclosure;

FIG. 19A illustrates a shear display device simulating a virtualinteraction point external to the device in accordance with at least oneembodiment of the present disclosure;

FIG. 19B is a front view of the shear display device of FIG. 19A;

FIG. 19C is a right side view of the shear display device of FIG. 19A;

FIG. 19D is a top view of the shear display device of FIG. 19A;

FIG. 19E is a bottom view of the shear display device of FIG. 19A;

FIG. 19F is a back view of the shear display device of FIG. 19A;

FIG. 19G is a left side view of the shear display device of FIG. 19A;

FIG. 20 illustrates a shear display device having three sliding tactorsand configured to simulate a virtual interaction point external to thedevice in accordance with at least one embodiment of the presentdisclosure;

FIG. 21A illustrates a tactor having a covering including a flexiblematerial in accordance with at least one embodiment of the presentdisclosure;

FIG. 21B illustrates the tactor of FIG. 21A moving or deforming thecovering including a flexible material in accordance with at least oneembodiment of the present disclosure;

FIG. 21C illustrates a sliding tactor having a curved tactor and acovering including a flexible material in accordance with at least oneembodiment of the present disclosure;

FIG. 21D illustrates the tactor of FIG. 21C deforming the coveringincluding a flexible material in accordance with at least one embodimentof the present disclosure; and

FIG. 22 schematically illustrates a cross-sectional view of a sheardisplay device having a micro-processor and memory configured to performat least one method in accordance with the present disclosure.

FIG. 23A depicts an embodiment of a shear display device having arestraining device attached to the body and configured to hold a user'shand proximate the shear display device.

FIG. 23B depicts an embodiment of a shear display device having arestraining device including a thumb strap attached to the body andconfigured to hold a user's hand proximate the shear display device.

FIG. 23C depicts another embodiment of a shear display device having arestraining device including a thumb strap attached to the body andconfigured to hold a user's hand proximate the shear display device.

DETAILED DESCRIPTION

Embodiments of the present disclosure provide devices, systems, andmethods for displaying information about direction of movement, speed,resistive force experienced, other aspects of movement for an object, orcombinations thereof. The device can also be used to display or feedbacka wide variety of information that has magnitude and/or directionassociated with it (e.g., temperature, pressure, volume, proximity,other information, or combinations thereof) or give guidance about wherea person should move (e.g., to push forward on an aircraft control stickto prevent stall from occurring). More specifically, the presentdisclosure provides a shear display device that can generate skin shearor skin stretch with one or more tactors moving in a two- orthree-dimensional space. The tactors (or contactors) are the movingcontacts between the shear display device and the user's skin, and theterms shear display, shear feedback, skin stretch, and skin stretchfeedback are used interchangeably to refer to tactile cues provided viastretching one or more portions of the user′ skin. The movement of thetactors can represent to a user various aspects of the movement of theobject (e.g., object being controlled by the user or a controlledobject). As used herein, the use of the term “controlled object” alsoincludes the user's own body, limbs, arms, fingers, and hand.

For instance, the movement of the tactors can represent linear (ortranslational) direction and/or speed of the object's movement, or thata user should translate their hand or limb in two- or three-dimensionalspace. Furthermore, the movement of the tactors also can representrotation of the object in two- or three-dimensional space, or that auser should rotate their hand or limb in two- or three-dimensionalspace. Similarly, movement of the tactors can display information aboutforce and/or torque experienced by the object. With such information,the user may direct movement of the object (or their limbs) moreaccurately. For example, the user can control the amount of forceapplied by the controlled object onto another body as well as locationand/or direction of the force. A controlled object can be any automatedor semi-automated vehicle, tool, or other implement, movement of whichcan be directed by a controller. Examples of controlled objects includecontrolled servo and stepper motors or other actuators, computercontrolled machines, vehicles, robots, etc. A controlled object couldalso include the human user, e.g., for using shear feedback to guidetheir limb motions during physical therapy.

Additionally, while providing information about various aspects ofmovement (e.g., acceleration, velocity, etc.) and/or location (e.g.,orientation, position, etc.) of the controlled object, at least someembodiments of the shear display device do not generate gross motion ofthe user's hand (or other body part) that is in contact with the sheardisplay device. In particular, the shear display device can be part of acontroller (e.g., a joystick) that directs movement of the controlledobject. The controller with shear feedback can allow the user to controlor direct the controlled object, while displaying information about thecontrolled object's movement (i.e., through skin stretch rather thangross movement of the joystick). Moreover, the controller with shearfeedback can display movement information (i.e., through skin stretch)without affecting the movement and/or location of the user's hand suchas to interfere with the operation of the controller. In other words, inone or more embodiments, while the shear display device provides or(physically) displays information to the user, the shear display devicedoes not move the user's limb, but rather only a small portion of theskin of the user's body, which may include the user's head, arm, hand,finger, other body part, or combinations thereof (for multiple tactors).

In some embodiments, the shear display device also can provide asimulated force feel to the user's hand, finger, or another body part.More specifically, the skin shear produced by the shear display devicecan be similar to the sensation otherwise felt by the user while usingan actual tool, similar to the tool that is being controlled andoperated by an automated system (e.g., a robot). Hence, for example, asurgeon can receive shear feedback while controlling an automated orrobotically controlled scalpel, and such shear feedback can approximatethe shear that a manual scalpel would produce on the skin of thesurgeon's hand. Shear feedback can also be used to provide forceinformation or guidance cues for procedures such as catheterization,rehabilitation, laser/bone/vascular etc. surgery, or resection. Forexample, when used for rehabilitation, shear feedback can guide aperson's limb motions as part of physical therapy, etc.

In some embodiments, a controller can detect when the user is not incontact with the tactor of the shear display device. For instance, theshear display device can include a touch sensor, which can recognizecontact with user's skin (or lack thereof). This sensor could include,but is not limited to a capacitive sensor, electrostatic sensor, contactswitch, force sensor, etc. Accordingly, the shear display device and/orthe controller can respond to loss of contact with the user's skin, in amanner that would avoid displaying inaccurate information to the user.For example, if loss of tactor's contact with the user's skin isdetected, the tactor can move to its default position (e.g., an originor zero position, such as a center of a finger well) and cease allfurther operation, until contact is reestablished. Once contact isreestablished, the tactor can once again commence displaying informationto the user. Additionally, the shear display device can alert the userabout the loss of contact with the tactor as well as aboutreestablishment of contact (e.g., by providing an audible alert).

The tactor of a shear display can also be coupled to or have a forcesensor embedded within it. This force sensor can be used for the abovepurpose of knowing when the user's hand is in contact with the sheartactor(s). The force sensor can also be used as a user input for thecontroller, similar in spirit as a ThinkPad laptop's TrackPoint cursorcontrol sensor. Alternatively or in addition, this embedded force sensorcan also be used to more generally measure user interaction forces withthe shear display's tactor(s). These force sensors may provide a meansto control translational and rotational input or motion to a device,object, robot, vehicle, or other computer controlled system. As will bedescribed below, whereas like motion of multiple tactors can be used toprovide translational information such as direction cues or display ofobject interaction force or motion, and the differential motion ofmultiple shear tactors can be used to present rotational information tothe user, a user is also able to provide translational and rotationalinput to the force sensors on the multiple tactors in an analogousmanner. That is, if the user applies the same force in the samedirection to multiple tactors, this would cause a pure translationalinput to the control system, and if the user applies the same force inopposite directions (i.e., a force couple) to multiple tactors, thiswould cause a rotational input to the control system.

If different forces are applied to the two (or more) afore mentionedforce sensors, the force direction and magnitude can be taken intoaccount in determining the meaning of this input. One intuitive means tointerpret having different inputs force vectors applied to multipletactors would be to solve for the resultant forces and torques on thesystem of force sensors. Hence, one would examine the applied forcevectors and the relative location of the force sensors in order to solvefor the net translational force and moment applied to the system offorce sensors. This can provide a means to provide multidimensionalinput control, including rotations, of a system using multiple 2- or3-degree-of-freedom translational force sensors. This provides theability to measure user input through applied forces on the sheardisplay tactors, as opposed to just capturing the user's motion bytracking the position of the held or strapped-on shear display (e.g., byputting the shear display on a robot arm or by using some type ofnon-contact motion tracker). Furthermore, this scheme of capturing userinput from one or more tactors with embedded force sensors is the“input” equivalent of moving the tactors together to give translationaldirection/motion/force cues or feedback and moving the tactorsdifferentially to give rotational direction/motion/force etc., cues orfeedback (which will be discussed further below).

Note, that in addition to tracking the position of the shear display bymounting it on the end of a robotic arm (with force feedback) orkinematic arm (without force feedback), it is also possible to utilizesingle or multiple shear displays within a shear display device ordevice with embedded shear feedback in combination with any type ofmotion tracking system to provide tactile feedback. This tactilefeedback can be used to provide relevant situational or controlinformation. For example, a device with single or multiple sheardisplays within it could be paired with a wireless camera system (e.g.XBOX KINECT) or other motion system (e.g., NINTENDO WII WIIMOTEmotion/position sensor, or SONY MOVE motion sensor), other non-contactmotion sensing (e.g., POLHEMUS, RAZER HYDRA, flock of birdsinductive/electromagnetic motion sensors or ultrasound motions sensors)and used to provide feedback in a teleoperation, virtual reality, orgaming interaction. Information displayed via shear display cancoordinate to the user's interaction within those environments, and/orthe user's current motion. Other motion sensors can also be used toprovide feedback via shear display based on user interaction in theabove environments, such as tilt sensors, inertial sensors, gyros,accelerometers, magnetometers, or other position or motion sensors. Notethat inertial sensing and some forms of non-contact position sensingalso make it so that no explicit absolute position sensing is necessary,yet this sensor information can provide information that can be used bythe control system and fed back to a user via shear feedback.Interaction from force sensors such as a force sensor in the user'schair or floor (e.g., WII FIT board) can also be used to provide contentto be portrayed via skin stretch feedback using a shear display. Againuse of multiple force sensors on the tactors of a shear display devicecan be used to provide translational or rotational inputs to a controlsystem.

Examples of types of information that can be portrayed along with how itcan be displayed, includes: impact can be displayed by rapidly movingthe tactor in the direction of the impact force, the velocity of anobject or the person can be displayed via shear feedback by moving thetactor with a relative position proportional to the orientation andmagnitude of the object's velocity vector. Forces are also similarlymapped to tactor motions by displaying a force vector as a scaled tactordisplacement vector. The tilt of an object can also be portrayed viashear feedback by mapping the tilt angle or change in gravitationalforces to a proportional amount of skin stretch feedback whoseorientation corresponds to the direction an object is tilted (e.g., thiscould provide feedback as a user tilts their smart phone while playing agame). Another example would be to display skin stretch feedback in adriving game whose tactor motion is proportional to the inertial forcesfelt by the driver. As another example, if the orientation of the user'shands or arms is tracked then the orientation of the shear feedbackcould also be corrected to correspond to changes in the user'sorientation with respect to the frame of reference of the forces, whichmay be useful while conducting upper extremity rehabilitation.

Any other quantities that have a vector and/or magnitude could also bedisplayed via shear feedback, e.g., life meter in a shooter game, sonarmap that shows the location of enemies, which could be displayed by anoutbound pulse-type motion in the direction of the target on the headsup map. This application could have performance advantages as the gamerwon't need to refer to the visual heads-up display window as much tomonitor this information. Likewise, skin stretch feedback could be usedto point to an open player in a sports game using a radial tactor motionin the direction towards the open player and then return to center. Thetactor motion could move repeatedly in an AC coupled fashion, or couldsimply move the tactor in the radial direction towards the open playerand persistently point in the direction of interest until thisinformation is no longer valid (before the tactor would return tocenter). Giving AC coupled cues has the advantage in that they arerepeated and a user can sometimes (physically or cognitively) miss aninitial tactor motion. The tactors location can also be used to providefeedback on the relative location or motion of an object within a gameor virtual reality scenario.

It should be noted that various modes of user interaction are describedherein. For example, the use of force feedback, shear display via skinstretch (using tactors), force detection (using tactors and forcesensors), and other modes of user interaction are described. Thesedescriptions are not meant to be limiting in any way. Force feedback,shear display via skin stretch, force detection, other user interactionmodes, or combinations thereof may be used to interact with the user.Furthermore other modes of user interaction including visual feedback,auditory feedback, haptic feedback, olfactory feedback, even gustational(i.e. taste) feedback, other sensory feedback, or combinations thereofmay be used to interact with the user. Haptic feedback, for example, mayinclude vibrotactile feedback. In addition or alternative to thesevarious types of feedback, other modes of receiving user feedback may beused. In addition or alternative to force detection, other user feedbackdetection may be used. For example, motion capture (including video),sound detection (including but not limited to voice recognition), otheruser feedback detection, or combinations thereof. Furthermore, it shouldbe clear that any of the user feedback modes and the user feedbackdetection modes may be used individually or in combination with eachother.

In one embodiment, using shear (or skin stretch) feedback in combinationwith force feedback may reduce the amount of force feedback necessary tolower (or even safe) levels. This may, in the event that there aresensing errors with force feedback alone, reduce instabilities. Thus,using force feedback with skin stretch feedback may enhance/increase theperceived force or stiffness (or other force information such asfriction, damping, etc.) reducing the amount of force feedback required.Providing force feedback in combination with skin stretch feedback maybe more intuitive because the forces and force directions, though weakin some cases, can still be perceived and may help people moreintuitively interpret the skin stretch cues, especially when moving withmore spatial motions (i.e., not confined to a plane) or when judgingreal physical mechanical properties such as stiffness, damping, mass,friction, etc. Furthermore, when using torque feedback and shearfeedback to provide rotational (i.e., torque or other rationalindicators), less torque feedback may be necessary, due to thecomplementary rotational shear feedback (from differentially movingtactors) cues. Other advantages are also considered.

Furthermore, as described herein shear feedback may be used with variousprocedures. For example, shear feedback may be used to guide handmotions. This guidance may come through directional shear feedback cues,force/torque feedback cues, other cues, or combinations thereof. In thecontext of catheterization with a shear feedback and/or force feedbackdevice, these cues may be used to help a user stay within apredetermined path.

For ease of description, the various modes of user interaction that aredescribed herein have been generally presented. These modes of userinteractions in addition to any other modes of user interactions may beused for these procedures.

Referring now to the figures, FIG. 1A illustrates one embodiment of ashear display device 100 a that has a tactor 110 a, which can providetactile cues and display information to a user. The tactor 110 a can beat least partially located within a body 120 a. In some instances, thebody 120 a can be cylindrical; however, other shapes of the body 120 acan be suitable, depending on the particular use of the shear displaydevice 100 a. Generally, the body 120 a can have a suitableconfiguration for being grasped by the user and/or to provide areasonable means for the user to lay their hand and/or fingers on theshear display device 100 a. The shear display device 100 a also caninclude a well 130 a, which can isolate the user's skin with respect tothe body 120 and/or near or about the tactor 110 a, such that themovement of the tactor 110 a can stretch the user's isolated skin. Forinstance, the well 130 a can isolate skin on the user's finger (orfingertip), such that the tactor 110 a can create skin stretch thereonwithout physically moving the user's finger in any substantial manner.Among other things, the well 130 a may be configured as an aperture oran orifice. In any event, the well 130 a can have a suitable shape,size, and configuration (e.g., position and orientation relative to thetactor 110 a) to restrain the user's skin relative to the tactor 110 aand may also assist in grasping the shear display device 100 a.

The tactor 110 a can move in a two-dimensional space (or inthree-dimensional space in some embodiments, though the discussion withrespect to FIG. 1A will be mostly focused on two-dimensional space) and,when in contact with the user's skin, can cause skin stretch by suchmovements. In particular, the tactor 110 a can move along X- and/orY-axes, indicated in FIG. 1A. Moreover, the tactor 110 a can movesimultaneously along both X- and Y-axes. As such, the tactor 110 a canhave linear or nonlinear movement in any direction. The skin stretch,experienced by the user can provide cues and information (e.g.,directional information) to the user. For example, a linear movement ofthe tactor 110 a can represent a linear movement of the object beingcontrolled by the user. Such movement can be represented in anydirection in a two-dimensional space.

Hence, via movement of the tactor 110 a, the shear display device 100 acan provide any number of directional cues or types of directionalinformation. In at least one embodiment, the shear display device 100 acan provide shear feedback that relates linear movement of an object(e.g., a controlled object, the shear display device 100 a, or any otherpredetermined object or entity, whether real or virtual) with themovement of the tactor 110 a. For instance, movement of the tactor 110 ain a first direction can indicate to the user that an object also hasmoved in the first direction. Alternatively, movement of the tactor 110a in the first direction can signal to the user that a destination islocated linearly in the first direction from the user or from acontrolled object. In other words, movement of the tactor 110 a also canindicate direction where it may be desirable for the user to move acontrolled object. Accordingly, the shear display device 100 a can guidethe user (or user's hand) and can provide cues for controlling thecontrolled object (e.g., directing the controlled object to move in acertain desirable direction).

Likewise, the shear display device 100 a can display force information.For example, movement of the tactor 110 a in the first direction canindicate a force applied to the controlled object, which is acting onthe first object in the first direction. Hence, the user can quicklydetermine the direction of the force being applied to the controlledobject. Additionally or alternatively, the shear display device 100 acan indicate a relative amount of force experienced by the controlledobject. For instance, relatively slow movement and/or relatively smalldisplacement of the tactor 110 a in the first direction can indicate arelatively small or insignificant force acting on the controlled object.By contrast, a relatively fast movement and/or relatively largedisplacement of the tactor 110 a can indicate a relatively large forceacting on the controlled object.

Similar to linear movements and forces, the shear display device 100 aalso can display rotational and/or torque information related to anobject or entity (e.g., related to the controlled object). Rotationalinformation can relate to in-plane rotation of an object (e.g., acontrolled object, the shear display device 100 a, or any otherpredetermined object or entity, whether real or virtual). For example,the tactor 110 a can move in a substantially or approximately circularor semicircular manner about a predetermined point (e.g., about anoriginal or default position of the tactor 110 a or another point). Inother words, the tactor 110 a can move simultaneously along X- andY-axes in a manner that produces a spiral, circular or semicircularmovement. In any event, movement of the tactor 110 a can appear to theuser as a circular or semicircular movement.

Circular and/or semicircular movement of the tactor 110 a can representrotation of the controlled object and/or torque experienced thereby.More specifically, the rotational movement of the tactor 110 a canrepresent, for instance, the rotation of the object or the magnitude ofthe torque applied thereto. In one example, the tactor 110 a generallymoves about and within the diameter of the well. In other embodiments,the diameter of the circular or semi-circular path may be used tocommunicate the orientation or rotation of the object or the magnitudeof the torque applied thereto. In further embodiments, other shapes orpaths of the tactor 110 a may be used to describe the motion (i.e.,force or velocity) of the controlled object.

Additionally or alliteratively, the tactor 110 a can rotate about apoint. In other words, rather than moving in a circular or semicircularpath as described herein, the tactor 110 a may rotate about a point.Such rotation (in place) also can represent rotation of an object and/orcan convey information about the object's rotation and/or the torqueexperienced thereby. Similarly, to display the orientation of theobject's rotation and/or the torque experienced thereby, the tactor 110a can have a related rotation or motion that can produce correspondingskin stretch in the user's hand, finger, or other body part. In otherembodiments, a combination of the circular or semicircular movement aswell as rotation of the tactor 110 a may be used. For instance, thetactor 110 a may rotate about its own axis as it also moves in acircular or semi-circular manner about a point.

In additional or alternative embodiments, the shear display device 100 aalso can provide information through a pattern or sequence of movements.For instance, the tactor 110 a can have repeated movement or a series ofrepeated movements in a direction within the plane of the shear display.Such interrupted movement provides “AC coupled” or pulsing directionalinformation (force, direction, displacement, motion, etc.). That is,movement of the tactor 110 a can be pulsed with the direction and/ormagnitude of the directional information to be provided. Thisdirectional information can also be done through sustained movements ofthe tactor, through “DC coupled” feedback. In this mode, the tactor 110a is moved to a position that represents the direction and/or magnitudeof the directional information (force, direction, displacement, motion,etc.) and is held in this position until the tactor is moved back to itscenter position to indicate that that the user should stop moving, thatforce now zero, etc.).

In at least one embodiment, the information displayed by the sheardisplay device 100 a via movements of the tactor 110 a that produce skinstretch can reflect the movement of the shear display device 100 a aswell as the movement of the controlled object or any other predeterminedobject or entity. In some instances, direction and/or speed of movementor acceleration of the tactor 110 a can represent movement of thecontrolled object. For example, if the controlled object moves slowly,the tactor 110 a also can move correspondingly slowly (i.e., at the sameor proportional rate of speed as the controlled object) and in the samedirection as the controlled object, thereby signaling to the user thespeed and direction of movement of the controlled object. The tactor 110a could also signal the speed and direction of motion by moving thetactor 110 a a first distance and in a first direction (e.g., from acenter or default position of the tactor 110 a). The first distance andthe first direction can be proportional to and may correspond with theobject's velocity.

In some embodiments, the shear display device 100 a also can be acontroller that directs movements of a controlled object (i.e., sendsinformation necessary to move or operate such controlled object). Forinstance, the shear display device 100 a can include a mounting shaft140 a, which can couple to a corresponding control mechanism (e.g., agimbaled sensor, a force feedback device such as a Phantom Robot Arm,etc.). As further described herein, the control mechanism can detectmovements of the shear display device 100 a and can send instruction toa controller for directing the controlled object.

In additional or alternative embodiments, the shear display device 100 aalso can send control signals or instructions to a controller withoutbeing physically connected to the control mechanism. For instance, theshear display device 100 a can incorporate wired or wireless trackingmechanisms that can interface with or can be incorporated into thecontrol mechanism and can detect movements and/or position (or changethereof) of the shear display device 100 a, which can be provided by thecontrol mechanism as instructions for the controlled object.Furthermore, the tactor 110 a can also include a force sensor incommunication therewith. Consequently, the force sensor can senddirectional information to the control mechanism or to the controller,which can provide corresponding instruction to the controlled object.

In addition, as further described herein, the shear display device 100 acan display information along a Z-axis. In other words, the sheardisplay device 100 a can provide information about three-dimensionalmovements, forces, torques, positions, etc. For instance, the tactor 110a can move outward or inward (i.e., toward or into the user's skin andaway from the user's skin) to display information related to movementand/or force along the Z-axis of an object. Hence, movement of thetactor 110 a along the Z-axis can provide information about the object,which is similar to the information described herein in connection withtwo-dimensional movement of the tactor 110 a.

Moreover, movement of the tactor 110 a along the Z-axis can beindependent of the movements along the X- and/or Y-axes. Hence, thetactor 110 a can move in any number of patterns or directions inthree-dimensional space. For example, the tactor 110 a can move in anyone or more of the X-Y, X-Z, and Y-Z planes. Also, such movement can bealong any desired path (e.g., circular path in the X-Z plane), which canindicate movement or position of as well as forces or torquesexperienced by the object.

The tactor 110 a can be actuated in a number of ways. For example, asillustrated in FIG. 1B, the actuator assembly of the shear displaydevice 100 a can include a crank-slider mechanism 150 a connected to afirst motor 160 a. The crank-slider mechanism 150 a can include a crank170 a connected to the first motor 160 a and a slider 180 a coupled tothe tactor 110 a. As the first motor 160 a rotates, the crank 170 amoves the slider 180 a, thereby producing linear motion of the tactor110 a (e.g., along Y-axis). Accordingly, the crank mechanism 150 a canproduce linear motion of the tactor 110 a in response to the rotation ofthe first motor 160 a.

The actuator assembly of the shear display device 100 a also can includea second motor 190 a. The second motor 190 a can be located within orsecured to the slider 180 a. In any event, the second motor 190 a canmove (e.g., along the Y-axis) with the slider 180 a. The second motor190 a also can be coupled to the tactor 110 a and can generate rotationof the tactor 110 a, for example, with respect to a center axis of theslider 180 a. Moreover, operation of the motor 160 a and of the secondmotor 190 a can be independent of each other. As such, tactor 110 a canmove independently in two-dimensions.

It should be noted, that the range of motion of the tactor 110 a can berelatively small (e.g., 0-1 mm, 0-2 mm, 0-5 mm). Accordingly, radialmotion of the tactor 110 a produced by the second motor 190 a can appearas substantially linear motion to the user (e.g., as a linear motionalong the X-axis). In other words, the first motor 160 a may generatelinear motion in the y-direction or along the Y-axis and the secondmotor can generate substantially linear motion in the x-direction oralong the X-axis. The movement produced by the second motor 190 a and bythe first motor 160 a (together with the crank mechanism 150 a), whencombined together, can produce any number of movements or movementpatterns of the tactor 110 a, such as the movements and movementpatterns described herein. Particularly, the tactor 110 a can be movedin a linear manner in any direction. Similarly, the tactor 110 a alsocan be moved in a nonlinear manner in any direction. For example, thetactor 110 a can be moved in a circular semicircular or other nonlinearmanner.

The movement produced by the second motor 190 a and by the first motor160 a (together with the crank mechanism 150 a), when combined together,can produce any number of movements or movement patterns of the tactor110 a. Particularly, the tactor 110 a can be moved in a linear manner inany direction. Similarly, the tactor 110 a also can be moved in anonlinear manner in any direction. For example, the tactor 110 a can bemoved in a circular semicircular or other nonlinear manner.

Although the description herein relates to a shear display device thathas an approximately cylindrical form factor, it should be appreciatedthat this disclosure is not so limited. Moreover, in light of thisdisclosure it should be appreciated that the form factor of the sheardisplay device can vary from one embodiment to another. For instance, asillustrated in FIG. 2A, at least one embodiment includes a shear displaydevice 100 b that has a flat or box-like (e.g., rectangular) body 120 b.Except as described herein, the shear display device 100 b and itscomponents and elements can be similar to or the same as the sheardisplay device 100 a (FIGS. 1A-1B) and its respective components andelements.

For example, as illustrated in FIG. 2A, the shear display device 100 acan include the tactor 110 b located within a well 130 b, which can atleast partially constrain user's skin in contact therewith. The tactor110 b can display the same or similar information as can be displayed bythe tactor 110 a of the shear display device 100 a (FIGS. 1A-1B).Moreover, the tactor 110 b can represent such information by the same orsimilar movements and movement sequences as described herein inconnection with the shear display device 100 a (FIGS. 1A-1B). In certainapplications, however, the rectangular body 120 b of the shear displaydevice 100 b may present a user with a more convenient or ergonomicinterface than, for instance, the shear display device that has acylindrical configuration.

Moreover, the well 130 b and the tactor 110 b can be located essentiallyanywhere on the body 120 b. For instance, the well 130 b and the tactor110 b can be located near one or more edges of the body 120 b (e.g.,near a corner of the body 120). It should be appreciated, however, thatthe well 130 b and the tactor 110 b also can be located away from one ormore edges of the body 120 (e.g., near a center point of the body 120),as may be desirable for a particular application.

Also, flat or rectangular form factor of the shear display device 100 bcan allow for additional or alternative actuation mechanisms or actuatorassemblies (e.g., as compared with the shear display device 100 a (FIGS.1A-1B)), which can move the tactor 110 b relative to the well 130 b. Inone example, as illustrated in FIG. 2B, an actuator assembly of theshear display device 100 b can include one or more actuator assemblies,which can comprise a cam actuation mechanism 150 b. More specifically,the cam actuation mechanism 150 b can include first and second motors160 b, 190 b which can move or rotate respective first and second cams170 b, 180 b. As described herein in more detail, rotation of the firstand second cams 170 b, 180 b can result in movement of the tactor 110 brelative to the body 120 b. As shown in FIGS. 2B-2D, the first andsecond cams 170 b, 180 b are shown as eccentric circular pins that movewithin a slot to provide relative motion.

In one embodiment, the first motor 160 b can be coupled to the first cam170 b through a series of gears. For example, the first motor 160 b canhave a worm 162 b coupled to a shaft thereof, which engages a worm gear.The worm 162 b can be engaged with a worm/spur gear 172 b of a firstdiameter. In some embodiments, the connection between the worm 162 b andthe worm/spur gear 172 b can be a reducer and can provide mechanicaladvantage (i.e., can produce higher torque at the rotation of the firstgear 172 b than produced by the first motor 160 b). As such, onerotation of the worm gear 162 b can produce less than one rotation ofthe spur gear 172 b. The significant mechanical advantage that may beprovided by a worm gear can reduce the required space and also mayreduce the meshing velocity of spur gears at the next stage of thetransmission. The reduced meshing velocity of the spur gears can greatlyreduce the noise produced by a geared transmission, and the meshing ofworm gears in the first stage of the transmission is inherently quieterthan the meshing of spur gears. Use of helical gears rather thanstandard spur gears can further reduce the transmission noise.

Additionally or alternatively, the spur gear 172 b can be coupled to oroperatively connected with the first cam 170 b, as described furtherbelow. For example, the spur gear 172 b can be coupled to a spur gear174 b of a second diameter (e.g., the spur gears 172 b, 174 b can becoupled together and may rotate together about a shaft). Moreover, thespur gear 174 b can be engaged with a spur gear 176 b, which can becoupled with the first cam 170 b. The spur gears 172 b and 176 b canhave substantially the same diameter, while the spur gear 174 b can havea smaller diameter. Accordingly, connection between the spur gears 172b, 174 b, 176 b also can be a reducer and can provide mechanicaladvantage.

Mechanical advantage provided by the connection between the worm 162 band the worm/spur gear 172 b and/or by the connection between the spurgears 172 b, 174 b, 176 b can transfer more force to the movement of thetactor. Additionally, such connection can reduce the angle of rotationof the first cam 170 b relative to the rotation of the first motor 160b. Consequently, such connection also can provide additional control andmay enhance precision or accuracy of positioning and/or moving thetactor.

The second motor 190 b can be coupled to the second cam 180 b in asimilar manner, as the first motor 160 b may be coupled to the first cam170 b, as described herein. Additionally, it should be appreciated thatthe first and second motors 160 b, 190 b can have any number of suitableconnections or coupling configurations with the respective first andsecond cams 170 b, 180 b. Such connections can include direct or directdrive connections, crank-slider connections, belt-pulley connection,chain-sprocket connections, etc. In any event, the first and secondmotors 160 b, 190 b can rotate respective first and second cams 170 b,180 b, which can produce motion of the tactor relative to the body ofthe shear display device.

For example, as illustrated in FIG. 2C, the cam actuation mechanism 150b (FIG. 2B) can be housed in a sliding housing 200 b. More specifically,the cam actuation mechanism can be secured to and/or within the slidinghousing 200 b. In addition, the first cam 170 b can be slidably and/orrotatably secured to or within the body of the shear display device(e.g., the first cam 170 b can be secured within a slot in the body).Accordingly, in response to clockwise rotation of the first cam 170 b,the sliding housing 200 b can be pushed in a first direction along anX-axis, while in response to counterclockwise rotation of the first cam170 b, the sliding housing 200 b can be pushed in a second, oppositedirection along the X-axis.

In some embodiments, the sliding housing 200 b can have grooves 210 b,which can guide the sliding housing 200 b along the X-axis. Thus, thesliding housing 200 b can move along the X-axis in response to rotationof the first motor. Furthermore, the tactor can be secured or coupled tothe sliding housing 200 b. Consequently, movement of the sliding housing200 b can result in the corresponding movement of the tactor relative tothe body of the shear display device.

It should be appreciated that the first cam 170 b (and the second cam180 b (FIG. 2B) can provide mechanical advantage. Moreover, the firstcam 170 b (and the second cam 180 b (FIG. 2B) can be configured such asto provide the greatest mechanical advantage at the farthest point oftravel of the sliding housing 200 b (and of the upper slide 220 b (FIG.2C), respectively). Accordingly, as the tactor moves and the user's skinstretches, the tactor can experience resistance due to the stretch ofthe user's skin, which can increase as the tactor moves away from adefault position and can peak at the farthest position of travel. Suchincrease in resistance can be at least in part accommodated bycorrespondingly increasing mechanical advantage provided by the firstcam 170 b (and the second cam 180 b (FIG. 2B)).

Also, as the first cam 170 b (or the second cam 180 b (FIG. 2B)) rotates(e.g., within a slot in the body of the shear display device), thesliding housing (and/or the upper slide 220 b (FIG. 2C)) can move in afirst direction and/or in an opposite direction. In some embodiments,the first cam 170 b (and/or the second cam 180 b (FIG. 2B)) as well ascorresponding slot or receiving channel in the body of the shear devicecan be configured such that the first cam 170 b (and/or the second cam180 b (FIG. 2B)) can fully rotate therein. As such, if a motor orcontroller fails in a manner that provides continuous rotation to thefirst cam 170 b (and/or the second cam 180 b (FIG. 2B)), the slidinghousing 200 b (or the upper slide 220 b (FIG. 2C), as applicable) cancontinuously oscillate, without exceeding travel limits of the sheardisplay device and/or damaging components or elements thereof.

In additional or alternative embodiments, an upper slide 220 b can beslidably coupled to the sliding housing 200 b. Thus, the second cam canmove the upper slide 220 b relative to the sliding housing 200 b as wellas relative to the body of the shear display device. More specifically,as illustrated in FIG. 2D, the second cam 180 b can be rotatably securedwithin a slot 230 b and the upper slide 220 b. Hence, as the second cam180 b rotates about an axis thereof, the second cam 180 b can push orpull the upper slide 220 b along the Y-axis.

In some embodiments, the sliding housing 200 b can include guidingchannels 240 b (e.g., the guiding channels 240 b can have a gib-likeconfiguration). The upper slide 220 b can include guiding protrusions250 b that can fit into the guiding channel 240 b. Accordingly, theupper slide 220 b can move linearly along the Y-axis relative to thesliding housing 200 b as well as relative to the body of the sheardisplay device. Additionally, when the sliding housing 200 b moves alongthe X-axis, relative to the body of the shear display device, the upperslide 220 b can move together with the sliding housing 200 b.

In one or more embodiments, the tactor 110 b can be secured to the upperslide 220 b. Consequently, when the upper slide 220 b moves along theY-axis, in response to rotation of the second motor, the tactor 110 balso can move along the Y-axis. Likewise, when the sliding housing 200 bmoves along the X-axis, in response to rotation of the first motor, thetactor 110 b can move along the X-axis.

Hence, rotation of the first and second motors can actuate movement ofthe tactor 110 b along the X- and Y-axes. Furthermore, the first andsecond motors can move the tactor 110 b in any number of paths and/orsequences or patterns. For instance, the first and/or second motors canbe a servo motors connected to and controlled by a controller, which canprovide instructions to the first and second motors to move the tactor110 b in a manner that displays information to the user, as describedherein.

The above description relates to providing one-, two- andthree-dimensional information by producing skin shear or skin stretchthrough movement of one or more tactors in a single plane, which issubstantially parallel with the user's skin. This disclosure, however,is not so limited. For example, as illustrated in FIGS. 3A-3B, oneembodiment of an actuation mechanism or an actuator assembly 260, whichcan actuate a tactor 110 in a manner that can provide one-, two-, orthree-dimensional information to the user through movement of the tactor110 in a plane substantially orthogonal with respect to the user's skindescribed herein. It should be appreciated that the actuator assembly260 can be incorporated into any one of the shear display devicesdescribed herein, including the shear display devices 100 a, 100 b, 100c, 100 d, 100 e, 100 f, 100 g, 100 h, 100 k, 100 n (FIGS. 1A-2B, 4-11)irrespective of the particular shape of their respective bodies.Moreover, although the illustrated embodiment of the actuator assembly260 incorporates a cylindrical or a point tactor 110, it should be notedthat the actuator assembly 260 can move any one of the tactors describedherein, irrespective of the size and/or shape thereof. Although thefocus of the foregoing description of embodiments of shear displaydevices focuses generally on the movement of tactors in the x- andy-directions, any embodiment herein may be combined to providecombinations of circular/semi-circular movement, rotation, planarmovement, other tactor movement or combinations thereof with movement orcues provided in the z direction as well as gross movement when usedwith a device such as a force feedback device.

Accordingly, such movement of the tactor can apply pressure onto theuser's skin. More specifically, the actuator assembly 260 canincorporate a cam 270 and a motor 280 that can rotate the cam 270,thereby causing the tactor 110 to move outward (i.e., toward the user'sskin along the Z-axis). For example, a counter clockwise rotation of thecam 270 can cause the tactor 110 to move outward. The tactor 110 can bereturned to its original position by rotating the cam 270 in theopposite direction (e.g., counterclockwise), such as to lower the tactor110.

In some embodiments, the tactor 110 may be coupled with a sliding shimand a spring (e.g., a conical spring) 290. The spring 290 may keep thetactor 110 generally in contact with the cam 270 when the cam 270 movesfrom its largest diameter toward its smallest diameter. In otherembodiments, the cam 270 and the tactor 110 can be connected (e.g., viaa T-slot connection). Accordingly, as the cam 270 rotates (e.g.,clockwise) to lower the tactor 110, the cam 270 can pull the tactor 110downward. Alternatively, the tactor 110 can be spring-loaded, such thatrotation of the cam 270, which is uncoupled from the tactor 110, mayallow the spring to lower the tactor 110.

The tactor 110 may be operatively associated with actuator assembliesthat can move the tactor 110 in a plane substantially parallel with theuser's skin (e.g., in the X-Y plane). Accordingly, the tactor 110 canmove in three-dimensional space—i.e., in a plane parallel to the user'sskin as well as in a plane perpendicular to the user's skin. Forexample, the actuator assembly 260 can include first and second motors160 k, 190 k, which can move the tactor 110 along respective X- andY-axes. Particularly, the tactor 110 can be coupled to the first motor160 k via a first crank-slider mechanism 170 k and to the second motor190 k via a second crank slider mechanism 190 k. As the first motor 160k rotates the crank of the first crank-slider mechanism 170 k, the firstslider can move the tactor 110 along the X-axis. Likewise, as the secondmotor 180 k rotates the crank of the second crank-slider mechanism 190k, the second slider can move the tactor 110 along the Y-axis. It shouldbe appreciated that the tactor 110 may be operatively associated withany one of the above-described mechanisms, which can move the tactor 110along the X- and/or Y-axes.

In other embodiments, the shear display device can include a set ofwedges. As the wedges are moved toward one another, the first wedgeslides onto the second, thereby raising the tactor. Conversely, as thewedges move away from each other, the tactor can be lowered. Similar tothe cam 270 (FIGS. 3A-3B), the first wedge can be coupled to the tactor,thereby pulling the tactor as the first wedge slides down along thesecond wedge. Alternatively, the tactor can be spring-loaded; hence, thespring can force the tactor downward as the first wedge slides down thesecond wedge.

In addition to or in lieu of moving the tactor along the Z-axis,relational information can be displayed to the user by providing changesin pressure on the user's skin. For instance, the change(increase/decrease) in pressure can correspond to a correlating changein upward/downward direction of movement of the controlled object.Additionally or alternatively, the increase/decrease in pressure cancorrespond with increase/decrease in force experienced by the controlledobject from its environment.

In one embodiment, the shear display device can convey a sensation ofincreased upward pressure by reducing the area of the tactor thatcontacts the user's skin. For example, the shape of the tactor can bechanged, thereby reducing the area of the tactor that contacts theuser's skin. In one instance, the tactor can have a substantially curvedor spherical outer surface. By reducing the radius (or contact area) ofthe curved or spherical surface (i.e., outer surface) that defines thetactor, the user can experience greater pressure applied to the portionof the skin that contacts the tactor. Conversely, by increasing theradius of the sphere defining the tactor, a greater area will contactthe user's skin, thereby decreasing the pressure felt by the user.

To increase and decrease the radius of the curved or spherical surfacedefining the tactor, in one or more embodiments, the tactor includes aflexible outer shell that is connected to at least two connectors (e.g.,two tendons). The tendons may be connected to a shortening device. Forexample, the shortening device can be a pulley coupled to an actuator.As the pulley reduces the length of the tendons, the flexible outershell is reduced in radius by the tactor reducing the contact area ofthe outer surface.

In other embodiments, the tactor may include an inflatable balloon ormembrane, which can be inflated and deflated, thereby changing the areaof the tactor and varying the pressure sensed by the user.Alternatively, the tactor can comprise a domed shell actuated bypiezo-electrical elements. In any event, the shape of the shell ormembrane of the tactor can change in a manner that may provide the userwith a sensation of increased or decreased pressure on the user's skin.

In another embodiment, the shear display device can incorporate a tactorcomprising multiple concentric rings. Such concentric rings can move upor down, thereby increasing and decreasing the area that is in contactwith user's skin. Accordingly, whether by moving the tactoroutward/inward (toward and away from the user's skin) and/or bydecreasing/increasing the area of the tactor, the user can sense achange in pressure on the skin that is in contact with the tactor. Forexample, the tactor may be in a base configuration where the tactor isz-axis neutral. In some embodiments, the concentric rings move outwardin the z-direction.

Moreover, the concentric rings can cooperate to form a contouredsurface. A contoured surface may create a sense of surface curvature orchanging contact area, which may be used to portray differing forces,direction cues, pressure, etc. The concentric rings also can cooperateto provide the same outward movement in the z-direction, but only thecentermost concentric ring remains in the outward position (the otherrings move away from the finger pad). This provides a smaller surfacearea of the tactor which can be used to create a sense of surfacecurvature or changing contact area which may also be used to create asense of surface curvature or changing contact area, which may be usedto portray differing forces, direction cues, pressure, etc.

In other embodiments, the shear display device can include multipletactors, which can be located in the same or in one or more differentplanes. For example, as illustrated in FIG. 4, a shear display device100 c can incorporate the first tactor 110 c′ as well as a second tactor110 c″. Except as otherwise described herein, the shear display device100 c and its components and elements can be similar to or the same asany one of the shear display devices 100 a, 100 b (FIGS. 1A-2D) andtheir respective components and elements (e.g., actuator assemblies).More specifically, the second tactor 110 c″can be positionedsubstantially orthogonally relative to the first tactor 110 c′.Similarly, the control system can incorporate the shear display devicesthat have multiple tactors. As described herein in further detail, acontrol system can include the force feedback device and the sheardisplay device 100 c connected to the force feedback device.

Additionally or alternatively, in some embodiments, as illustrated inFIG. 5, a shear display device 100 d can include multiple opposingtactors, such as a first tactor 110 d′ and a second tactor 110 d″.Except as otherwise described herein, the shear display device 100 d andits components and elements can be similar to or the same as any one ofthe shear display devices 100 a, 100 b, 100 c (FIGS. 1A-2A and 4) andtheir respective components and elements (e.g., actuator assemblies).More specifically, the first and second tactors 110 d′, 110 d″ can bedirectly opposite each other. As shown in FIG. 5, the tactors 110 d′,110 d″ are opposite to each other and centered approximately about thesame axis (e.g., about Z axis). Such a configuration of the sheardisplay device 100 d can allow the shear display device 100 d to displayvarious types of movement information to the user, which can bepresented in a more intuitive manner.

For instance, the user can perceive relative movement of the first andsecond tactors 110 d′, 110 d″, which can provide various information tothe user. Particularly, moving the first tactor 110 d′ and the secondtactor 110 d″ in opposite directions within their respective X-Y planes(i.e., in two-dimensional motion) can inform the user about rotationalmotion of the object (e.g., controlled object, shear display device 100d, etc.). For example, movement of the first tactor 110 d′ and thesecond tactor 110 d″ in opposite directions along the Y-axis can displayrotational motion about the X-axis. It should be appreciated that,because the first and second tactors 110 d′, 110 d″ are spaced apartalong the X-axis, the user can experience a torque-like sensation,produced by the relative movement of the first and second tactors 110d′, 110 d″ in opposite directions.

In other embodiments, the first and second tactors 110 d′, 110 d″ maymove in opposite directions in three-dimensional motion. For example,the first tactor 110 d′ may move in a first direction along the Y-axisand the second tactor 110 d″ may move in a second, opposite directionalong the Y-axis, while the first tactor 110 d′ and the second tactor110 d″ both move inward (i.e., while the first tactor 110 d′ moves alongthe Z-axis, away from the user's skin and the second tactor 110 d″ movesalong the Z-axis away from the user's skin) in an arc-like motion.

Additionally or alternatively, the first and second tactors 110 d′, 110d″ of the shear display device 100 d can move in opposite directions todisplay rotation about another axis (e.g., about an axis that isconcentric with the shear display device 100 d). Hence, for example,when the user rotates the cylindrical shear display device 100 d aboutthe Y-axis, the first tactor 110 d′ and the second tactor 110 d″ canmove in opposite directions the X-axis, thereby displaying rotationalmotion of the shear display device 100 d and/or of the object, such asthe control object. Furthermore, other rotational motions can be displayto the user by moving the first and second tactors 110 d′, 110 d″ in asimilar manner (i.e., by relative motion of the first and second tactors110 d, 110 d″).

Accordingly, the shear display device 100 d can provide the user withinformation about rotation of an object about X- and/or Y-axes. Forexample, counterclockwise rotation of the shear display device 100 dabout the Y-axis can be displayed to the user by moving the first tactor100 d′ in a first direction along the X-axis, while moving the secondtactor 110 d″ in a second, opposite direction along the X-axis. Suchmovement of the first and second tactors 110 d′, 110 d″ can create asensation of torque and can convey relevant rotational information tothe user.

It should be appreciated that in addition to or in lieu of movementsdescribed herein, which can display rotational information to the user,the first and second tactors 110 d′, 110 d″ of the shear display device100 d can move in the same or similar manner as the tactors of the sheardisplay devices 100 a, 100 b, 100 c (FIGS. 1A-3). Accordingly, the sheardisplay device 100 d also can convey the same information as a singletactor shear display device. For instance, to display rotation about theZ-axis, the first and/or second tactors 110 d′, 110 d″ can move in aspiral or circular path and/or can rotate about various axes, asdescribed herein. More specifically, for instance, to indicate aclockwise motion of the shear display device 100 d and/or of thecontrolled object, first tactor 110 d′ can be moved in a clockwisespiral or circular motion about the center or another point in the well.Similarly, the opposing, second tactor 110 d″ can move in an oppositedirection, namely counterclockwise relative to a view looking at thattactor (to indicate the same motion) about the same or another point.Furthermore, circular and/or rotational movements of the first andsecond tactors 110 d′, 110 d″ can be synchronized, such as to displaythe same rotation on both sides of the shear display device 100 d. Inother words, the first tactor 110 d′ and the second tactor 110 d″ mayboth rotate and/or move clockwise, counterclockwise, or otherwisesimultaneously.

Likewise, as described herein in connection with the shear displaydevice that has a single tactor, the shear display device 100 d also candisplay translational or linear motion of the shear display device 100 dand/or of the controlled object or user's hand. For instance, both thefirst tactor 110 d′ and the second tactor 110 d″ can move in the samedirection and at the same speed or acceleration to indicatetranslational motion. In at least one example, both the first tactor 110d′ and the second tactor 110 d″ can move toward the user (i.e., upwardon the page) indicating corresponding linear movement of the controlledobject. Alternatively, both the first tactor 110 d′ and the secondtactor 110 d″ can move to toward the user (i.e., toward the left of thepage) indicating corresponding linear movement of the controlled object.Similarly, both the first tactor 110 d′ and the second tactor 110 d″ canmove to the user's left, thereby displaying corresponding movement ofthe controlled object. Also, both the first tactor 110 d′ and the secondtactor 110 d″ can move to the user's right, thereby displayingcorresponding movement of the controlled object.

Similarly, as described below in further detail, the first and secondtactors 110 d′, 110 d″ can move out of plane (i.e., in a first orsecond, opposite direction along the Z-axis). Moreover, any one of theactuation mechanisms or actuator assemblies described herein can beincorporated into or used in the shear display device 100 d. In someembodiments, the first and second tactors 110 d′, 110 d″ may be coupled(hard- or soft-coupled, i.e., physically or via a controller) such thatthe first and second tactors 110 d′, 110 d″ move together. For example,the first and second tactors 110 d′, 110 d″ may both move in the samedirection (i.e., to the right, but with the first tactor 110 d′ movingoutward in the z-direction and the second tactor 110 d″ moving inward inthe z-direction).

In addition to or in lieu of the actuator assembly 260 (FIGS. 3A-3B), asmentioned above, the shear display device 100 d can include any numberof suitable actuator assemblies and/or actuator mechanisms. In oneembodiment, the first and second tactors 110 d′, 110 d″ can move inopposite directions along the Z-axis in a synchronized and/or in anindependent manner. Such movement, for example, can convey force orpressure experienced by the controlled object. As noted above, locationand movement of the first and second tactors 110 d′, 110 d″ can indicateto the user the magnitude of force or pressure experienced by and/or thelocation or movement or size of an object.

In an embodiment, the actuator assembly of the shear display device 100d can include a sliding wedge (or multiple sliding wedges). Forinstance, the shear display device 100 d may include a wedge actuatorthat moves the wedges with respect to each other. In one example, thewedge actuator may move a left wedge away from the wedge actuator. Assuch, a right wedge may stay in its relative longitudinal location. Inother embodiments, the right wedge also may be actuated by the wedgeactuator or another actuator in the opposite direction than the leftwedge. Furthermore, as the larger portion of the left wedge approachesthe larger portion of the right wedge, both first and second tactors 110d′, 110 d″ can move outward (e.g., the first tactor 110 d′ moves in afirst direction and the second tactor 110 d″ moves in a second, oppositedirection).

Additionally or alternatively, shims or other mechanisms may be used tointerface with the sliding wedges. The first and second tactors 110 d′,110 d″ may be operatively associated with actuator mechanisms and/oractuator assemblies that can move the first and second tactors 110 d′,110 d″ in a plane substantially parallel with the user's skin (e.g.,actuation mechanism 150 b (FIGS. 2B-2D)). Accordingly, the first andsecond tactors 110 d′, 110 d″ can move in three-dimensional space—i.e.,in a plane parallel to the user's skin as well as in a planeperpendicular to the user's skin.

In a further embodiment, the first and second tactors 110 d′, 110 d″ maybe coupled together, but may be able to move both in the same directionand in opposite directions along the Z-Axis. Any number of mechanismsmay be used that can provide coupled motion in both the opposite and thesame directions. For instance, the shear display device 100 d may use atapered eccentric cam that is both eccentric about and tapered along itslongitudinal axis. The shear display device 100 d may include anactuation mechanism (not shown) that may both rotate and longitudinallymove the tapered eccentric cam.

For example, as the tapered eccentric cam is moved toward the first andsecond tactors 110 d′, 110 d″, both the first and second tactors 110 d′,110 d″ can move outward along the Z-axis. Likewise, as the taperedeccentric cam is moved away from the first and second tactors 110 d′,110 d″, both the first and second tactors 110 d′, 110 d″ can move inwardalong the Z-axis. Also, as the tapered eccentric cam is rotated, thefirst and second tactors 110 d′, 110 d″ can both move in the samedirection. In other words, the first tactor 110 d′ can move outward andthe second tactor 110 d″ can move inward.

Where the tapered eccentric cam both longitudinally moves and rotates,the first and second tactors 110 d′, 110 d″ may move in the samedirection (i.e., outward or inward) but at a different rate and/or adifferent amount. For example, when the tapered eccentric cam is rotatedto a neutral position (e.g., where each of the first and second tactors110 d′, 110 d″ may be the same distance from the center of the taperedeccentric cam) the tactor to which the larger diameter portion of thetapered eccentric cam is approaching will move farther outward as thetapered eccentric cam is longitudinally advanced and rotated such thatthe larger diameter portion of the tapered eccentric cam approaches thattactor. Likewise, from an advanced position (i.e., where one of thefirst and second tactors 110 d′, 110 d″ abut the larger diameter portionof the tapered eccentric cam and where the largest portion of the taperis abutting both first and second tactors 110 d′, 110 d″), as thetapered eccentric cam moves toward the neutral position andlongitudinally away from the first and second tactors 110 d′, 110 d″,the tactor that was closest the largest portion of the tapered eccentriccam may move faster and further inward as the tapered eccentric cam islongitudinally advanced and rotated such that the larger diameterportion of the tapered eccentric cam moves away from that tactor.

In addition, shims or other mechanisms may be used to interface with thetapered eccentric cam. As noted above, the first and second tactors 110d′, 110 d″ may be operatively associated with actuator assemblies thatcan move the tactors in a plane substantially parallel with the user'sskin. Accordingly, the tactors can move in three-dimensional space—i.e.,in a plane parallel to the user's skin as well as in a planeperpendicular to the user's skin.

Consequently, the shear display device 100 d also can displayinformation about force experienced by an object about the Z-axis.Specifically, in one embodiment, the first and second tactors 110 d′,110 d″ can move outward, thereby displaying to the user increasedpressure along the Z-axis. Conversely, the first and second tactors 110d′, 110 d″ can move inward, which may signal to the user a decrease inforce experienced by an object. Moreover, outward movement of the firstand second tactors 110 d′, 110 d″ may signal to the user growing,zooming, or size increase of an object. Similarly, inward movement ofthe first and second tactors 110 d′, 110 d″ can signal to the usershrinking, zooming out, or size decrease of an object.

As noted herein, the shape of the body of the shear display device canvary from one embodiment to another. For instance, as illustrated inFIG. 6, a flat or rectangular shear display device 100 e also can haveopposing first and second tactors 110 e′, 110 e″. Except as otherwisedescribed herein, the shear display device 100 e and its components orelements can be similar to or the same as any one of the shear displaydevices 100 a, 100 b, 100 c, 100 d (FIGS. 1A-5) and their respectivecomponents and elements. Furthermore, the first and second tactors 110e′, 110 e″ can exhibit relative motion (e.g., similar to the tactormovements described in connection with the shear display device 100 d(FIG. 5)) to display rotation of an object about X- and/or Y-axes.

Moreover, the shear display device also can provide the same or similarinformation as any one of the shear display devices 100 a, 100 b, 100 c,100 d (FIGS. 1A-4). For example, the first and/or second tactors 110 e′,110 e″ can move in a linear manner to indicate linear directional orforce cues. Additionally or alternatively, the first and/or secondtactors 110 e′, 110 e can move along spiral, circular or semicircularpaths to provide rotational information about the Z axis. In any event,the shear display device 100 e can provide the same information as canbe provided by a single tactor shear display device as well asadditional information that can be presented by differential relativemovement of the first and second tactors 110 e′, 110 e.

In one embodiment, the shear display device 100 e can be coupled to orintegrated with a tool or an instrument. For instance, the shear displaydevice 100 e can be coupled to a stylus, which can be used to sendinstructions to a controller. Furthermore, as described herein in moredetail, the shear display device 100 e can be coupled to a controllerand/or force feedback device. Hence, for example, the shear displaydevice 100 e, together with the controller and/or force feedback device,can be used in robotic procedures (e.g., surgery, catheter insertion,etc.).

As mentioned herein, the body of the shear display device can have anynumber of suitable configurations, shapes, and sizes. Furthermore, amongother things, locations of the tactors and wells on the body of theshear display device can vary from one embodiment to another. Inaddition, the shape and size of the tactors can vary from one embodimentto the next and may depend on location of the tactor on the sheardisplay device, portion of the skin intended to be contacted by thetactors, etc. For instance, as illustrated in FIG. 7A, a shear displaydevice 100 f can have a first and second tactors 110 f′, 110 f″ locatedon a joystick-like body 120 f. Except as otherwise described herein, theshear display device 100 f and its components or elements can be similarto or the same as any one of the shear display devices 100 a, 100 b, 100c, 100 d, 100 e (FIGS. 1A-6) and their respective components andelements.

More specifically, the shear display device 100 f can have the firsttactor 110 f′ located on an upper end thereof, such that the firsttactor 110 f′ can engage the user's thumb. The first tactor 110 f′ canbe surrounded by a first well 130 f, which can restrain the skin on theuser's thumb, in a manner that isolates skin movement and produces skinstretch in response to the movement of the first tactor 110 f′.Moreover, the first tactor 110 f′ can be offset from a center axis ofthe body 120 f. For example, a right-handed shear display device 100 fcan have the first tactor 110 f′ offset to the left of the center axisof the body 120 f.

As such, the location of the first tactor 110 f′ can allow the user'sthumb to remain in a more natural position. In other words, in someembodiments, the user's thumb can remain in a relaxed or un-flexed statewhen in contact with the first tactor 110 f′. Such a configuration canprovide better isolation of the user's skin relative to the first tactor110 f′, which can lead to more accurate and/or sensitive feedback forthe user. Moreover, such configuration also can provide improved angularaccuracy of user's interpretation of the skin stretch cues from thefirst tactor 110 f′ (as compared with the configuration where the tactoris aligned with the center axis of the body).

Likewise, for a left-handed shear display device 100 f, the first tactor110 f′ can be offset to the right of the center axis of the body 120 f,such that the user's left thumb can remain in a relaxed state while incontact with the first tactor 110 f′. It should be appreciated thatother embodiments can include the first tactor 110 f′ located at othersuitable locations on the upper end of the shear display device 100 f(e.g., aligned with the center axis of the body 120 f). In any event,the first tactor 110 f′ can be located on the body 120 f such that theuser is capable of placing a left or a right thumb on the first tactor110 f (and in the well 130 f) while holding the body 120 f of the sheardisplay device 100 f with the corresponding hand.

The first tactor 110 f′ can be capable of movements similar to or thesame as the movements of any one of the tactors described herein. Hence,the first tactor 110 f′ can display the same or similar information asany one of the tactors mentioned herein. In addition to the first tactor110 f′, as noted herein, the shear display device 100 f can include thesecond tactor 110 f″. In one embodiment, the second tactor 110 f″ canmove substantially along the length of the body 120 f. Particularly, thetactor 110 f″ can be in contact with the user's palm and can provide anynumber of tactile cues, represented by a substantially vertical movementof the second tactor 110 f″.

In one or more embodiments, the second tactor 110 f″ can have a plate-or bar-like shape. As such, the second tactor 110 f″ can engage a largerportion of the user's skin. Such a configuration can be particularlyadvantageous on portions of the user's skin that have a relatively lowdensity of mechanoreceptors. For example, skin on the user's palm mayhave a lower density of mechanoreceptors or nerve endings than the skinon the user's fingertips. Accordingly, in one embodiment, the secondtactor 110 f″ can recruit or engage substantially the same or similarnumber of mechanoreceptors on the user's palm as recruited or engaged bythe first tactor 110 f′ on the user's fingertip. Such a balancedengagement can allow the shear display device 100 f to provide tactilecues to the user's fingertip(s), fingerpads, and palm, which appear withsimilar or substantially the same intensity to the user.

Hence, the second tactor 110 f″ can be sufficiently larger than thefirst tactor 110 f′, to allow the second tactor 110 f″ to contactsufficiently larger portion of the user's palm. For instance, the secondtactor 110 f″ can be approximately a 0.75″×1.5″ rectangle (i.e., canhave an approximate area of 1.125 in²), while the first tactor 110 f′can have an approximately 0.25″ diameter (i.e., can have an approximatearea of 0.05 in²). In other examples, the second tactor 110 f″ may havea substantially rectangular shape with sides greater than 1.5″ and/orsmaller than 0.75″. It should be also appreciated that the second tactor110 f″ can have any number of other shapes, which may vary from oneembodiment to the next (e.g., square, triangular, trapezoid, irregular,etc.). The greater area of the second tactor 110 f″, as compared withthe area of the first tactor 110 f′, can allow the second tactor 110 f″to recruit sufficient number of mechanoreceptors to compensate for lowerdensity of the mechanoreceptors on the portion of the skin in contactwith the second tactor 110 f″.

In additional or alternative embodiments the second tactor 110 f″ caninclude ridges or texture, which can create sufficient friction betweenthe user's palm and the second tactor 110 f″ while also increasing theexperienced sensations. Alternatively, the second tactor 110 f″ cancomprise a material that has sufficient coefficient of friction toprevent or reduce slippage between the tactor 110 f″ and the user'spalm. For instance, the second tactor 110 f″ can comprise rubber,neoprene, silicone, and the like. In any event, the second tactor 110 f″can stretch the user's skin, thereby activating mechanoreceptorsthereon.

Furthermore, as the user grasps the body 120 f, portions of the body 120f surrounding or adjacent to the second tactor 110 f″ can at leastpartially restrain the user's skin surrounding the skin that is incontact with the second tactor 110 f″. In at least one implementation,the portions of the body 120 f that surround the second tactor 110 f″can comprise material that exhibits a relatively high coefficient offriction (e.g., roughened surface) or may be tacky, such as to preventor limit movement of the skin adjacent to the portion of the user's skinthat is in contact with the second tactor 110 f″. In any case, when theuser's hand grasps the body 120 f, the skin in contact with the secondtactor 110 f″ can be at least partially isolated in a manner that allowthe second tactor 110 f″ to stretch the skin.

Accordingly, in some embodiments, the shear display device 100 f canproduce skin stretch without incorporating a well into the body 120 fthereof. In other words, the act of grasping the body 120 f cansufficiently isolate the user's skin to allow the tactor 110 f″ tostretch an isolated portion of the user's skin. Alternatively, however,the body 120 f can incorporate a well about the tactor 110 f″, and suchwell also can isolate the user's skin.

The first and/or second tactors 110 f′, 110 f″ can be actuated in anynumber of ways, which can include any one or more of the actuationmechanisms and actuator assemblies described herein. Additionally, forexample, the second tactor 110 f″ can be coupled to a motor 160 f, asillustrated in FIG. 6B. Particularly, in one embodiment, a resilientflexible spine 170 f can be coupled to a crank 180 f secured to theshaft of the motor 160 f. As the shaft of the motor 160 f rotates thecrank 180 f in a first direction, the crank 180 f can push the spine 170f upward, thereby moving the second tactor 110 f″ upward. Conversely, asthe shaft of the motor 160 f rotates the crank 180 f in a second,opposite direction, the crank 180 f can pull the spine 170 f downward,thereby moving the second tactor 110 f″ downward.

In some embodiments, the body 120 f can have a channel 190 f, which canrestrain and/or guide the spine 170 f therein. Furthermore, in at leastone embodiment, the body 120 f can have a curvilinear configuration,which may provide an ergonomic fit with the user's hand. Thus, thechannel 190 f also can have a curvilinear configuration, as the path ofthe channel 190 f may generally follow the outside geometry of the body120 f. In any event, however, the spine 170 f can have sufficientflexibility to move up and down within the channel 190 f, thereby movingthe second tactor 110 f″ in corresponding directions. It should beappreciated that, in at least one embodiment, the tactor 110 f″ can movein any number of directions and patterns, linear and nonlinear, asdescribed herein in connection with other tactors.

It should be appreciated that the shear display device 100 f can allowthe user to “power grip” the body 120 f, while the second tactor 110 f″may continue moving and transmitting tactile information to the user(i.e., stretching user's skin). In other words, the user's hand canapply a relatively large amount of compressive force onto the body aswell as onto the second tactor 110 f″ without impeding or interferingwith the operation of the second tactor 110 f″ and of the shear displaydevice 100 f. Accordingly, the shear display device 100 f can continueproviding tactile cues to the user when the user applies relativelylarge force onto the body 120 f.

As noted herein, the shear display device 100 f can be incorporated intoa control system, as described herein in further detail. For example,the shear display device 100 f can include a connecting portion 200 f,which can couple the shear display device 100 f to a controller and/orforce feedback device. Accordingly, the user can receive tactile cuesfrom the first and second tactors 110 f′, 110 f″ and also can receiveforce feedback.

In additional or alternative embodiments, the shear display device caninclude multiple large tactors. For example, as noted herein, largetactors can provide enhanced sensation to the user when in contact withthe user's skin that has a relatively low density of mechanoreceptors.For example, as illustrated in FIG. 8, a shear display device 100 g canincorporate two plate-like tactors 110 g′, 110 g″. Except as otherwisedescribed herein, the shear display device 100 f and its components orelements can be similar to or the same as any one of the shear displaydevices 100 a, 100 b, 100 c, 100 d, 100 e, 100 f (FIGS. 1A-7B) and theirrespective components and elements.

As noted herein, a body 120 g of the shear display device 100 g can haveany number of suitable configurations. In one example, the body 120 gcan be substantially rectangular or bar-like. Other embodiments caninclude a cylindrical, spherical, or any other number of configurationsfor the body 120 g. Additionally, the tactors 110 g′, 110 g″ can belocated essentially anywhere on the body 120 g, as may be more suitableor desirable for a particular application. In one embodiment, thetactors 110 g′, 110 g″ are located near one edge of the body 120 g.

The tactors 110 g′, 110 g″ can be similar to or the same as the secondtactor 110 f″ (FIGS. 7A-7B). However, the tactors 110 g′, 110 g″canexhibit that same or similar movements as any one of the tactorsdescribed herein and may be actuated in the same or similar manner asany one of such tactors (i.e., the shear display device 100 g canincorporate any one of the actuator assemblies described herein).Accordingly, the tactors 110 g′, 110 g″ can move up and down along oneedge of the body 120 g (along Y-axis). Furthermore, the tactors 110 g′,110 g″ can move toward and away from the edge of the body 120 g (alongX-Axis). Hence, the tactors 110 g′, 110 g″ can exhibit any number ofmovement path, patterns, and sequences described herein.

Furthermore, the tactors 110 g′, 110 g″ can display the same or similarinformation as described above in connection with multiple opposingtactors. To mention a few: relative movement of the tactors 110 g′, 110g″ can display rotational information such as rotary motions andtorques; likewise, the tactors 110 g′, 110 g″ can display linear motionand/or force information.

Moreover, as noted above in connection with the shear display device 100f (FIGS. 7A-7B), the shear display device 100 g can allow the user toapply sufficiently large grasping force onto the body 120 g. At the sametime, the tactors 110 g′, 110 g″ can continue moving relative to thebody 120 g and displaying tactile information to the user. Consequently,such configuration can be employed in applications where the body 120 gof the shear display device 100 g may be subjected to relatively largegrasping forces from the user. For example, the shear display device 100g can be incorporated into controller used in virtual games of tennis,baseball, golf, sword fighting, etc. It should be appreciated, however,that the shear display device 100 g can be incorporate into any numberof controller or devices, which require or allow the user to applyrelatively large grasping force onto the body 120 g of the shear displaydevice 100 g. In addition, as noted above, the tactors 110 g′, 110 g″can provide sufficient stimulation of user's mechanoreceptors atlocations of low or lower sensitivity (e.g., lower than fingertips).Accordingly, the shear display device 100 f can also be used inapplications where user's gripping force may not be relatively large andmay provide skin stretch cues to portion of the skin with lowersensitivity (e.g., user's palm).

As previously noted, the body of the shear display device can have anynumber of configurations. Moreover, a shear display device mayincorporate any number of tactors (one, two, three, four, etc.), whichmay be positioned and/or oriented on the body of the shear displaydevice in any number of suitable configurations. In one example, asillustrated in FIG. 9, a shear display device 100 h can have ajoystick-like body 120 f and may include first, second, and thirdtactors 110 h′, 110 h″, 110 j. Except as otherwise described herein, theshear display device 100 h and its components or elements can be similarto or the same as any of the shear display devices 100 a, 100 b, 100 c,100 d, 100 e, 100 f, 100 g (FIGS. 1A-8). For instance, the joystick-likebody 120 h may be similar to or the same as the joystick-like body 120 f(FIGS. 7A-7B).

In one embodiment, the first and second tactors 110 h′, 110 h″ may moveupward and downward along a length of the body 120 h. Such movement mayapproximately follow the lengthwise curvature or surface of the body 120h. In additional or alternative embodiments, the first and secondtactors 110 h′, 110 h″ may move approximately perpendicular to thelength of the body 120 h. In still further embodiments, the first andsecond tactors 110 h′, 110 h″ may move about the body 120 h in a mannerthat the path of the first and second tactors 110 h′, 110 h″approximately follows the curvature of the perimeter or surface of thebody 120 f.

It should be appreciated that the third tactor 110 j can move in asimilar or the same manner and can provide similar or the same tactilecues as the first tactor 110 f′ (FIGS. 7A-7B). Similarly, the first andsecond tactors 110 h′, 110 h″ can move in a similar or the same mannerand can provide similar or the same tactile cues as the first and secondtactors 110 g′, 110 g″. Accordingly, the shear display device 100 h canincorporate cues provided by the shear display device 100 f, 100 g(FIGS. 7A-8) in a single device. For example, the shear display device100 h can display torque or rotation experienced by an object by movingthe first and second tactors 110 h′, 110 h″ in opposite directions(e.g., along the length of the body 120, about the perimeter of the body120, etc.). Alternatively, linear movement or force experienced by anobject can be displayed by the shear display device 100 h as movement ofthe first and second tactors 110 h′, 110 h″ in the same direction.

The shear display device 100 h can be used in any number ofapplications. For instance, the shear display device 100 h may be usedas an element or component of a control stick of an airplane (e.g., thebody 120 h of the shear display device can operate as the controlstick). In one embodiment, the first and second tactors 110 h′, 110 h″may provide instruction to a pilot (e.g., to a student pilot) regardinghow to move the control stick and/or navigate the airplane. In oneexample, to signal to the pilot to pull back on the control stick, thefirst tactor 110 h′ can move downward along the body 120 h, while thesecond tactor 110 h″ moves upward. Conversely, to signal to the pilot topush forward on the control stick, the first tactor 110 h′ can moveupward along the body 120 h, while the second tactor 110 h″ movesdownward.

In yet another embodiment, the shear display device can include fourtactors. For example, as illustrated in FIGS. 10A-10B, a shear displaydevice 100 k can include a partially cylindrical body 120 k and fourtactors positioned about the body 120 k. Except as otherwise describedherein, the shear display device 100 k and its components or elementscan be similar to or the same as any one of the shear display devices100 a, 100 b, 100 c, 100 d, 100 e, 100 f, 100 g, 100 h (FIGS. 1A-9).Particularly, the shear display device can include first and secondtactors 110 k′, 110 k″ located along the X-axis of the shear displaydevice 100 k and opposite to one another. In addition, the shear displaydevice can include third and fourth tactors 110 m′, 110 m″ positionedalong the Y-axis of the shear display device and opposite to each other.Moreover, in some embodiments, the first and second tactors 110 k′, 110k″ may have an approximately orthogonal orientation relative to thethird and fourth tactors 110 m′, 110 m″.

In an embodiment, the first and second tactors 110 k′, 110 k″ can movealong the length of the body 120 k (i.e., in a direction along orparallel the Z-axis of the shear display device 100 k). Likewise, thethird and fourth tactors 110 m′, 110 m″ can move along the length of thebody 120 k. In at least one embodiment, such movement of the first,second, third, and fourth tactors 110 k′, 110 k″, 110 m′, 110 m″ canapproximately follow the contour or the surface of the body 120 k.

Furthermore, embodiments of the present disclosure can include the firstand second tactors 110 k′, 110 k″ that may move about the body 120 k.For instance, the first and second tactors 110 k′, 110 k″ can rotateabout the body 120 k (e.g., about the Z-axis of the shear display device100 k). Such rotation of the first and second tactors 110 k′, 110 k″ canapproximately follow the contour or the surface of the body 120 k.Moreover, such rotation may be synchronized in a manner that the firstand second tactors 110 k′, 110 k″ rotate together, as a single unit.Similarly, the third and fourth tactors 110 m′, 110 m″ can rotate aboutthe body 120 k in the same or similar manner as the first and secondtactors 110 k′, 110 k″. In addition, the first and second tactors 110k′, 110 k″ and the third and fourth tactors 110 m′, 110 m″ can rotateabout the body 120 k together.

In one embodiment, the body 120 k may be sized and configured to allowthe user to grasp the body 120 k together with the first, second, third,and fourth tactors 110 k′, 110 k″, 110 m′, 110 m″. In other words, theuser can grasp the body 120 k in a manner that the user's hand contactsthe first, second, third, and/or fourth tactors 110 k′, 110 k″, 110 m′,110 m″, which may transmit tactile information to the user. Also, thebody 120 k may isolate portions of the user's skin that are in contactwith the respective first, second, third, and/or fourth tactors 110 k′,110 k″, 110 m′, 110 m″, such that the first, second, third, and fourthtactors 110 k′, 110 k″, 110 m′, 110 m″ may produce skin stretch on theskin portions in contact therewith.

Accordingly, various linear and/or nonlinear movements of the first,second, third, and/or fourth tactors 110 k′, 110 k″, 110 m′, 110 m″ mayprovide tactile cues or information to the user. In one example, thefirst and second tactors 110 k′, 110 k″ can move in opposite directionsalong or parallel to the Z-axis to signal rotation of an object aboutthe Y-axis. Alternatively, such movement can signal to the user torotate the shear display device 100 h (e.g., in order to move anobject), as described below in further detail. Linear movements of thefirst and second tactors 110 k′, 110 k″ can represent linear movementsand/or forces experienced by an object or cues to move an object, asdescribed herein.

Similar to the first and second tactors 110 k′, 110 k″, the third andfourth tactors 110 m′, 110 m″ can move in opposite directions along theZ-axis to signal to the user rotation or torque about the X-axis.Likewise, such movement also can signal to the user to rotate the sheardisplay device about the Y-axis. In additional or alternativeembodiments, as noted above, the first, second, third, and/or fourthtactors 110 k′, 110 k″, 110 m′, 110 m″ may rotate about the body 120 k(e.g., about the Z-axis). Among other things, such rotation can signalto the user rotation and/or torque about the Z-axis experienced by anobject. Also, such rotation may signal to the user to rotate the sheardisplay device 100 k about the Z-axis. It should be appreciated that onecan create torque sensations about axes that lie between the X- andY-axes by moving multiple tactors together. For example, referring toFIG. 10B, the first and third tactors 110 k′, 110 m′ can be movedupwards, while the second and fourth tactors 110 k″, 110 m″ are moveddownwards to provide a sensation of torque for the user, which wouldrotate the top of the body 120 k about an axis that is approximately 45degrees between the X- and Y-axes.

An exemplary application of the shear display device 100 k may includecontrolling an object and receiving cues regarding desired or necessarymovements for such object and/or for the shear display device 100 k. Forexample, the shear display device 100 k may incorporate or may beintegrated with a wireless remote or controller, such a Wii remote. Inother words, moving the shear display device 100 k may send instructions(e.g., movement instructions) to a controlled object. Accordingly, inone embodiment, the user may receive cues or suggestions about where tomove the shear display device 100 k (and, thus, the controlled object),as described above.

Additionally or alternatively, the shear display device 100 k canprovide correctional or training cues regarding an optimal or improvedmovement in a particular application. For instance, the shear displaydevice 100 k can provide correctional or training cues for a tennisswing (e.g., the shear display device 100 k can represent or can beincorporated into a handle of a tennis racket and may provide tactilecue regarding where and/or how to move the tennis racket). Similarly,the shear display device 100 k can provide any number of corrective ortraining cues, which may improve user's movements in connection with anynumber of activities (e.g., golf, baseball, fishing, etc.).

The rotational and translational degrees of freedom communicated by theshear display device 100 k could also include assisting in orienting orpointing an object such as a satellite dish or camera. That is, theshear display device 100 k can supply the degrees of freedom forpointing the camera with rotations about the X- and Y-axes, it couldsuggest how to zoom the lens with translational cues along the Z-axis,and could suggest changes in focus with cues to rotate the camera lens,with rotational cues about the Z-axis. Such cues could be especiallyadvantageous for individuals with vision impairments.

As mentioned above, the shear display device can have any number oftactors located on any portion thereof. FIG. 11 illustrates anotherembodiment of a shear display device, which incorporates multipletactors on the same side thereof. Particularly, FIG. 11 illustrates ashear display device 100 n that incorporates first and second tactors110 n′, 110 n″ on the top of a body 120 n. Except as otherwise describedherein, the shear display device 100 n and its components or elementscan be similar to or the same as any one of the shear display devices100 a, 100 b, 100 c, 100 d, 100 e, 100 f, 100 g, 100 h, 100 k (FIGS.1A-10) and their respective components and elements.

To display in-plane rotation of the shear display device 100 n, thefirst and second tactors 110 n′, 110 n″ can move in opposing directions.More specifically, the first and second tactors 110 n′, 110 n″ can movein opposing directions along their respective Y′- and Y″-axes. Thismovement can generate torque about a center point between the first andsecond tactors 110 n′, 110 n″. Such torque can indicate to the user thatthe shear display device 100 n and/or the controlled object is rotatingor that they should rotate their hand about a Z-axis (not shown), whichcan be perpendicular to the X′-Y′ plane.

As noted above, the displacement or movement of the first and secondtactors 110 n′, 110 n″ also can indicate the location, distance,displacement, or motion of the controlled object. Moreover, moving thefirst and second tactors 110 n′, 110 n″ with opposing motions (e.g. ontheir respective Y′- and Y″-axes) also can indicate torque being appliedto the controlled object or that the user should rotate their hand aboutthat respective axis. Hence, location or movement of the first andsecond tactors 110 n′, 110 n″ can indicate the amount of torque beingapplied to the controlled object. In contrast to moving of the first andsecond tactors 110 n′, 110 n″ in opposing directions, which can indicaterotation or torque, movement of the first and second tactors 110 n′, 110n″ in the same direction (e.g., along Y′- and Y″-axes, X′- and X″-axes,or any parallel directions), can indicate translational/linear movementof the shear display device 100 n and/or of an object, such as thecontrolled object.

Additionally or alternatively, the first and second tactors 110 n′, 110n″ can move in opposite directions on an axis that lies along thedirection between the center point of each of the tactors to displayvarious tactile cues to the user. For example, the first and secondtactors 110 n′, 110 n″ can move radially away from each other to displayzooming out or an increase in distance (virtual or otherwise) betweentwo objects (e.g., between an object and the controlled object; betweenthe user and an object, etc.) or increase in the size of an object. Suchmovement also can display to the user tensile forces experienced by anobject or provide similar force/pressure cues.

Conversely, the first and second tactors 110 n′, 110 n″ can moveradially toward each other, thereby signaling to the user zooming in ora reduction in distance (virtual or otherwise) between two objects orthe decreasing size of an object. Likewise, such movement of the firstand second tactors 110 n′, 110 n″ can indicate compressive forcesexperienced by an object or provide similar force/pressure cues. Forinstance, as a tool passes through a narrowing and is compressed, thefirst and second tactors 110 n′, 110 n″ can move toward each other,thereby indicating compression of the tool.

In one embodiment, the first and second tactors 110 n′, 110 n″ areoffset from each other in both the x- and y-direction. Such aconfiguration can provide tactile feedback to the user's index andmiddle fingertips, which are commonly offset in a similar manner as thefirst and second tactors 110 n′, 110 n″. This offset configuration canbe advantageous if the shear display device 100 n was a computer mouseor a similar device.

In other embodiments, the first and second tactors 110 n′, 110 n″ can besubstantially aligned with each other. In other words, the shear displaydevice 100 n can have a continuous edge, and the first and secondtactors 110 n′, 110 n″ can be positioned at approximately the samedistance from the edge. In any case, the user can position or orient theshear display device 100 n in any manner relative to the user's handand/or fingertips, such as to accommodate a particular placement of theuser's fingertips on the first and second tactors 110 n′, 110 n″.

Additional or alternative embodiments include the shear display device100 n that comprises multiple unconnected bodies, each of which canincorporate one of the first and second tactors 110 n′, 110 n″. In otherwords, the shear display device 100 n can comprise multiple unconnectedshear display devices, which can be place near each other, such that theuser can place fingertips on the desired tactors. Such otherwiseunconnected shear display devices can function together (e.g., byreceiving commands from the same controller) and can produce the samemovement of the first and second tactors 110 n′, 110 n″ as a single bodyshear display device 100 n.

Furthermore, it should be appreciated that the shear display device 100n can include first and second tactors 110 n′, 110 n″ that have anynumber suitable shapes and sizes, which may vary from one implementationto another. For example, the shear display device 100 n can include bar-or plate-like first and second tactors (e.g., similar to the first andsecond tactors 110 g′, 110 g″ (FIG. 8). The plate-like first and secondtactors can move in any number of ways described herein and can providethe same or similar information as described herein. Additionally, theplate-like first and second tactors can allow the user to apply arelatively large compressive force to the shear display device 100 n,while continuing to display information to the user. Furthermore, asnoted above, the plate-like tactors can recruit more mechanoreceptorsand, thus, can provide additional sensation in the areas of relativelylow density of mechanoreceptors (e.g., palm, wrist, etc.), which canfacilitate greater accuracy of the user's perception of the displayedinformation.

Hence, movements of the tactor can display one-, two-,three-dimensional, and generally multi-dimensional information aboutmovement of the controlled object. As described herein, the sheardisplay device can be connected to or form a part of a controller, whichcan control the controlled object. Moreover, the controller also canprovide force feedback to the user, as further described herein. Forease of description of the controller, reference is made to a “forcefeedback device,” which can incorporate both the control functionalityand can provide force feedback. Furthermore, the force feedback devicecan provide force feedback on any one or more of three axes in athree-dimensional space as well as torque feedback about any one of thethree axes. For example, the feedback can be such as to provide acertain amount of resistance to movement of a shear display device. Itshould be appreciated, however, that shear display device can be coupledto or integrated with a controller that can provide either of thecontrol functionality or force feedback. FIG. 12 illustrates a controlsystem 300 that includes the shear display device 100 a connected to aforce feedback device 310. The force feedback device 310 may include acommercially available force feedback device, such as the Phantom RobotArm.

The force feedback device 310 can provide resistive force in response tothe movement of the shear display device 100 a. Such resistive force,for example, can signal a resistance (as well as magnitude thereof)encountered by the controlled object (where this object could be aphysical object or a simulated/virtual object). For example, when usedwith a remote scalpel that is cutting through subcutaneous tissue andthen encounters bone, the force feedback device 310 may provide greater(or in this example infinite) resistance to further advancement in thedirection of the bone. Additionally, the force feedback device 310 cansense movements of the shear display device 100 a in one-, two-, three-,and up to six-dimensional space (i.e., linear movements in along any oneor more axes in a three-dimensional space plus rotational movementsabout such axes in the three-dimensional space). In other words, as theuser moves the shear display device 100 a, the force feedback device 310can provide instructions to a controller (or to the controlled object),and the instructions can correspond to the user's movements of the sheardisplay device 100 a. Thus, the force feedback device 310 can provideinformation to the user about position and/or movement of the controlledobject as well as provide instruction to the controlled object relatedto the movement thereof (e.g., as sensed by the force feedback device310 from the movement of the shear display device 100 a).

Moreover, in addition to or in lieu of force feedback, the controlsystem 300 also can provide the user with information about the movementof an object, such as the controlled object. More specifically, thecontrol system 300 can display position of the controlled object, forcesexperienced by of the controlled object, etc., via the shear displaydevice 100 a. For example, the force feedback device 310 can detectrotation of the shear display device 100 a about the Z-axis.

Similarly, the force feedback device 310 can detect rotation of theshear display device 100 a about the X-axis. As noted above, as theforce feedback device 310 detects rotation of the shear display device100 a about and/or linear movement of the shear display device 100 a inthe X-, Y-, and/or Z-axes (or any other axes), the force feedback device310 can translate such linear movements and/or rotations, and direct thecontrolled object in a corresponding manner.

Similarly, the tactor 110 a and its motion can display a representativeforce experienced by the controlled object. Hence, in lieu of providingforce feedback in response to force experienced by the controlled object(via the force feedback device 310), resistance to linear movementand/or rotation of a multi-tactor shear display device (e.g., sheardisplay device 100 k, FIGS. 10A-10B) can be presented as skin shear(i.e., stretching the skin) by the tactor 110 a. For instance, as notedabove, force may be displayed by displacing the tactor 110 a from acenter or default position to a second position. Also, the shear displaydevice 100 a can display torque by rotating the tactor 110 a about itsaxis and/or moving the tactor 110 a along a circular path. In oneexample, direction and distance of movement (or speed or acceleration)of the tactor 110 a from its center position can indicate the forcesexperienced by the controlled object. In other words, relatively largermovements of the tactor 110 a can represent a relatively greater amountof force experienced by the controlled object. Conversely, a relativelysmaller movement of the tactor 110 a can represent a relatively loweramount of force experienced by the controlled object.

As described herein, a shear display device provides localizedsensations, which do not affect or move the user's hand. Hence,providing haptic feedback via skin shear instead of force feedback canreduce the risk associated with unintentional hand movement, which canoccur in response to receiving force feedback from the force feedbackdevice 310. For example, in various medical applications, unintentionalhand movements during a procedure where a physician controls a medicaldevice with the help of the control system (e.g., during a surgery) canpresent huge safety concerns and can lead to devastating consequences.Accordingly, the shear display device 100 a can reduce potentialaccidents that may occur during various procedures, which can beespecially relevant to high risk procedures.

Additionally, the control system 300 can provide a combined forcefeedback and shear feedback. For example, the force feedback device 310can prevent movement of the shear display device 100 a in a certaindirection (e.g., along X-axis beyond a predetermined point or a limit),and the shear display device 100 a can provide shear feedback (e.g., bymoving in the tactor 110 a in a direction away from the predeterminedlimit). As such, the control system 300 can reduce the amount of forceapplied in the force feedback, while the user can experience sufficienttactile feedback to for accurate responses to such feedback. Combinedforce feedback and skin stretch can enhance user's sensation and canlead to more accurate interpretation of the cues as compared withproviding only the force feedback or skin stretch cues.

As noted above, reduction of force feedback can lead to improvedaccuracy of user's movements during user controlled tasks. For instance,the user can guide the controlled object along a path that is in partdictated by the tactile feedback from the control system 300. Thus,increased accuracy of user's movements can result in increased accuracyof the control object's adherence to the path. In one example, thecontrol system 300 can be used in surgical procedures, where the tactilefeedback can represent the controlled object's interaction with thesurrounding environment (e.g., resistance or forces experienced by thecontrolled object). Accordingly, increased accuracy of movement of thecontrolled device as well as reduced or eliminated unintentionalmovements (e.g., movements that can result from excessive forcefeedback) of the shear display device 100 a, which can control thecontrolled object, can lead to safer surgical procedures.

As noted above, the control system 300 can include any of the sheardisplay devices described herein. In one example, the control system 300may incorporate a multi-tactor shear display device (e.g., the sheardisplay device 100 d (FIG. 5)). Hence, in some instances, the user canreceive cues from the multi-tactor shear display device (as describedherein) and can move the shear display device in a direction and/or to aposition indicated by such cues. For example, the user may rotate theshear display device about the Z-axis (e.g., which would result from theshear feedback provided to a user). It should be noted that, in somesituations, the shear display device can move only about the Z-axis,while remaining substantially stationary otherwise (e.g., via forcefeedback that prevents linear movement and rotation about the X- andY-axes.

As described herein, rotation of the shear display device 100 a aboutthe Z-axis can direct the controlled object to perform certain function.For example the controlled object can be directed to rotate. In responseto such rotation the controlled object can experience torque applied byits environment. Hence, providing shear feedback can inform the userabout the amount of torque experienced by or the orientation or relativemovement of the controlled object. Moreover, the information about thetorque experienced by the controlled object also can be displayed by acombined skin shear and force feedback.

In some embodiments, the control system 300 can be configured topartially restrict the user's ability to move the shear display devicein three- or six-dimensional space. In other words, the force feedbackdevice 310 can apply force to prevent the user's movements of the sheardisplay device in one or more directions and/or prevent rotations aboutone or more axes. For example, the control system 200 a may restrict alllinear movement of the shear display device and can restrict rotationabout X-, Y- or Z-axes. Hence, for instance, the shear display devicecan be allowed to rotate only about the Z-axis. In other words, theforce/torque feedback device 310 can provide resistance to movement ofthe shear display device in a manner that would effectively constrainthe movements of the shear display device to a predetermined plane,surface, or three-dimensional surface or area (e.g., allowing movementsonly on the surface or on one side of the plane or surface).

Such restrictions also can confine movement of the shear display deviceto a particular confinement plane or surface. Thus, the user may be ableto move the shear display device only in a two-dimensional plane.Similarly, the control system 300 can restrict the user's movements ofthe shear display device to a surface, which can have athree-dimensional profile.

In other embodiments, the control system 300 can prevent the user frommoving the shear display device past a predetermined safety plane orsurface in the three-dimensional space. More specifically, the controlsystem 300 can allow the user to move the shear display device to anylocation on the one side of the safety plane or surface and prohibitmovement of the shear display device beyond that side of the safetyplane or surface. A surface of an object can be obtained (e.g., usingthree-dimensional scanning techniques) and can be used as a safetysurface for the control system 300. Such safety surface can protect theobject from inadvertent contact or impact by the controlled object.

Guiding the motion and orientation of the user while the user holds theshear display device such that the user can only move within a plane orsurface can also be very advantageous cognitively and for taskperformance. This reduces the task space such that a user is no longerrequired to reason and control for six degrees of freedom of motion, butcan simply focus on two degrees of freedom. This also allows the axis ofthe shear display to always be controlled to be in the most advantageousorientation to present useful feedback to the user.

In one aspect of the control system, the center of the shear displaydevice (i.e., location of the tactor and/or where the user grips theshear display) would be placed at the center of rotation of theforce/torque feedback robot's gimbal. By placing the shear displaydevice at the center of the gimbal, if torques are applied to the sheardisplay device to guide its motions, these torques will be less likelyto result in potentially large translational forces being generated whenthe robot arm pushes on the user's hand. Hence this centeredconfiguration has potential safety advantages.

Furthermore, providing torque feedback at the force feedback device 310can provide a means of controlling the orientation of the shear displaydevice 100 a such that it always lies in the predetermined or desiredorientation. All three axes of rotation can be similarly controlled suchthat the orientation of the shear display device can be suggested to orcontrolled for the user. Specifically, rotation of the shear displaydevice can be controlled about any one or more of the X-, Y-, andZ-axes.

Providing rotational guidance for the orientation of the shear displaydevice and, thus, for the user's hand provides a compromise in systemcomplexity and safety. As noted above, in safety critical applicationsforce feedback is often not used due to concerns of feedbackinstabilities. Hence, torque feedback can provide an effective means toguide the orientation of the shear display device to be placed in adesired or preferred orientation within a three-dimensional space withthree translations and three rotations, for conveying task specificinformation to the shear display device. Unlike force feedback, wheretransitional motion can result from feedback instabilities, torquefeedback has a lower potential to cause safety issues.

Accordingly, FIGS. 1-12 and the corresponding text, provide a number ofdifferent components and mechanisms for displaying movement, direction,force, and torque information to a user via tactile cues provided by theshear display device and/or by the control system. In addition to theforegoing, some embodiments of the present disclosure also can bedescribed in terms of flowcharts comprising acts and steps in a methodfor accomplishing a particular result. For example, FIG. 13 illustratesa flowchart of one exemplary method of providing above-describedinformation with tactile cues using principles of the presentdisclosure. The acts of FIG. 13 are described herein with reference tothe components and diagrams of FIGS. 1 through 12.

For example, as illustrated in FIG. 13, the method can involve an act400 of receiving information about an object. As mentioned above, suchobject can be a real (or physical) object or can be a virtual (i.e.,computer-generated) object. Furthermore, such an object can be an objectbeing controlled by the user, such as the controlled object, an objectused to control one or more other objects (e.g., shear display device incombination with a controller), or any other object being observed bythe user.

In addition, the particular information received can vary from oneembodiment to another. For instance, such information can includeinformation about the object's movements. Particularly, such informationcan include information about the object's direction, velocity, andacceleration. Additionally or alternatively, such information caninclude information about the forces, torques, or pressure experiencedby or applied to the object.

The method can further involve an act 410 of displaying the informationto the user via one or more tactile cues. More specifically, theabove-described information about the object can be displayed to theuser via predetermined one or more skin stretch cues, which can beprovided by the shear display device (e.g. shear display device 100 a,100 b, 100 c, 100 d, 100 e, 100 f, 100 g, 100 h, 100 k, 100 n). In otherwords, the shear display device can stretch one or more portions of theuser's skin to provide tactile sensations that can correspond with theinformation about the object and can be interpreted by the user as such.For example, the shear display device can move one or more tactors (e.g.tactors 110 a, 110 b, 110 c′, 110 c″, 110 d′, 110 d″, 110 e′, 110 e″,110 f′, 110 f″, 110 g′, 110 g″, 110 h′, 110 h″, etc.) in a firstdirection and at a first speed in along a linear path to indicate linearin a first direction and at a first speed in along a linear path toindicate linear movement of the object and particular speed thereof.Alternatively or additionally, the shear display device can move one ormore tactors in a first direction and at a first speed and/or by a firstdisplacement along a linear path to indicate a force experienced by theobject (i.e., magnitude of the force and/or direction thereof).

Additionally or alternatively, the shear display device can move one ormore tactors along a curved, circular, or semicircular path to indicaterotation of or a torque experienced by the object. Moreover, asdescribed herein, the shear display device can include multiple tactors(e.g. 110 c′, 110 c″, 110 d′, 110 d″, 110 e′, 110 e″, 110 f′, 110 f″,110 g′, 110 g″, 110 h′, 110 h″, etc.). Hence, the shear display devicecan move the tactors in a coordinated manner to display linear movement,force, rotation, torque, and combinations thereof. In one example,opposing tactors can move in opposite directions (e.g., along X- orY-axis), as described herein, to indicate rotation of and/or torqueexperienced by the object. For instance, directions of the movement ofthe tactors and the direction of a perceivable torque created about acenter point therebetween can provide information about the object'srotation. Furthermore, speed and/or acceleration as well as displacementof the tactors (i.e., the manner in which the user's skin is stretched)can provide information about the torque experienced by the object.

Likewise, tactors facing in the same or similar direction (e.g.,adjacent tactors) also can provide rotational information. As notedabove, in one example, one or more of the tactors can rotate about therespective axes thereof or may move in a circular or semicircular pathsto display information about the object's rotation and/or torqueexperienced thereby. Additionally or alternatively, the tactors can movein opposite directions along a linear or substantially linear paths(e.g., along X- or Y-axis), thereby producing a perception of torqueabout a point therebetween. Accordingly, such movements can provideinformation about the object's rotational movement and/or torqueexperienced thereby.

In some embodiments, as described herein, the tactors also can movetoward and away from the user's skin. Hence, the tactors can providethree-dimensional information about linear movement or forcesexperienced by the object. Additionally or alternatively, the tactorscan provide information about rotational movement and/or torquesexperienced by the object about any one or more of the three-dimensionalaxes (i.e., the shear display device 100 a, 100 b, 100 c, 100 d, 100 e,100 f, 100 g, 100 h, etc., can provide four-, five, and six-dimensionalinformation to the user).

Embodiments of the present disclosure also can include and/or can beimplemented in performing medical procedures, such as upper extremityrehabilitation, surgery, catheter insertion, etc. More specifically, inone example, a shear display device (e.g. shear display devices 100 a,100 b, 100 c, 100 d, 100 e, 100 f, 100 g, 100 h, etc.) can signal to theuser the direction of movement (i.e., where to move) for a desiredadvancement of the tool or catheter in the body. Also, the shear displaydevice can inform the user about the forces and/or torques experiencedby the catheter or other controlled tool or object. Accordingly, theshear display device can improve the safety of medical procedures, suchas catheter insertion and guidance.

In some embodiments, the shear display device can display impact betweentwo objects (e.g., between a controlled object and another object) in adifferent manner than a force applied onto the controlled object.Specifically, upon impact, the shear display device can produce arelatively large initial stretch of the user's skin (i.e., a largedisplacement of the tactors (e.g. tactors 110 c′, 110 c″, 110 d′, 110d″, 110 e′, 110 e″, 110 f′, 110 f″, 110 g′, 110 g″, 110 h′, 110 h″,etc.)), which can be proportional to the impact (e.g., to the speed ofthe controlled object at the time of impact and/or mass thereof),followed by displaying further tactor motion in proportion to thepenetration of the virtual object that is contacted. In other words, alarger initial stretch of the user's skin can produce an enhanced ormore accurate perception of impact. It should be noted that a single ormultiple tactors (as applicable) can move in unison to produce skinstretch of multiple portions of the user's skin.

In some embodiments, the displacement of the tactor and thecorresponding amount of skin stretch can be proportional to the force ortorque experienced by the object. For instance, a force of 2 N can bedisplayed by displacing the tactor by 1 mm, while a force of 4 N can bedisplayed by displacing the tactor by 2 mm. Alternatively, relationshipsbetween the force experienced by the object and the displacement of thetactor can be non-linear (e.g., logarithmic, quadratic, etc.). Thus,small amounts of force can be displayed to the user by sufficientlylarge displacement of the tactor, such that the user can perceive suchforces. At the same time, larger forces also can be displayed byproportionately less displacement by the tactor without running out oftravel. Hence a non-linear mapping of forces (or other quantitiesmentioned above) to tactor displacements has the advantage of beingresponsive for displaying lower force levels where the skin is notsubstantially stretched, while not prematurely saturating at higherforce levels. This extends the range of forces that can be displayed toa user and has the advantage of meeting a user's expectations ofincreased skin stretch when experiencing increasing forces or largeforces. This can better maintain the causality of the user experiencethan using a high force-to-tactor-displacement gain and experiencingearly tactor saturation at high forces.

One or more sliding tactors may be used incorporated into grips orhandles on various devices to provide tactile feedback withoutsignificantly interfering with the usage of the devices. As shown inFIG. 14A, a shear display device 100 m may include four tactors 110 o,similarly mounted on a body 120 m as described in relation to FIGS. 10Aand B. Particularly, the shear display device can include tactors 110 olocated along an X-axis of the shear display device 100 m and oppositeto one another. The shear display device 100 m may include tactors 110 opositioned along a Y-axis of the shear display device 100 m and oppositeto each other. Moreover, in some embodiments, at least one of thetactors 110 o may have an approximately orthogonal orientation relativeto at least one other tactor 100 o. In an embodiment, the tactors 110 ocan move along the length of the body 120 m (i.e., in a direction alongor parallel the Z-axis of the shear display device 100 m). In at leastone embodiment, the movement of at least one of the plurality of tactors110 o may substantially follow a contour or a surface of the body 120 m.

The shear display device 100 m may include one or more input mechanisms102 a that allow a user to interface with another device, system, orsimulated environment while receiving tactile feedback through the sheardisplay device 100 m. The input mechanism 102 a may include one or morebuttons, directional inputs (e.g., a thumb stick, directional pad,scroll wheel, etc.), switches, bumpers, triggers, or combinationsthereof. The input mechanism 102 a may include digital inputs and/oranalog inputs. The buttons, directional inputs, switches, bumpers, andtriggers may include various forms of tactile communication. Forexample, the input mechanism 102 a may include a trigger mechanism thatincludes vibration feedback capabilities. As shown in FIG. 14A, theinput mechanism 102 a may include a central analog thumb joystick and aplurality of buttons distributed about the central thumb joystick. Thebuttons may be configured to replicate a button layout of popularentertainment system controllers (e.g., XBOX, PLAYSTATION, WII, etc.controllers). The thumb joystick and plurality of buttons may beoperable by a user's thumb while gripping the body 120 m with theremainder of the user's hand. In other embodiments, the input mechanism102 a may be located elsewhere on the shear display device 100 m withoutsubstantially interfering with the communication of tactile informationto a user through the tactors 110 o.

The tactors 110 o may move individually, in groups, or in simultaneouscoordination to communicate information to a user. For example, a tactor110 o may move individually to communicate direction information to auser. In another example, a plurality of tactors 110 o or groups oftactors 110 o may move in simultaneous coordination to simulate a torqueapplied to a controlled object. Simultaneous coordination of tactors 110o may include moving tactors 110 o located on opposing sides of theshear display device 100 m in opposite or opposing directions at thesame time. The tactile sensation of opposing tactors 110 o providingskin shear in opposing directions may create a perception of the sheardisplay device 100 m rotating in the user's hand without interferingwith the user's ability to operate the one or more input mechanisms 102a. Motion of the all the tactors 110 o in the same direction may also beused to create the perception of force in the direction of tactormotion. The calculated motions of tactors 110 o that cause torques andforces to be perceived can also be scaled separately and superimposed torepresent nearly any force and/or torque combination.

The tactors 110 o may be recessed in the body 120 m or may have aportion of at least one tactor 110 o outside the body 120 m. Outside thebody 120 m should be understood to mean a location that is outside aperimeter around the body 120 m that is defined by the outermost pointsof the body 120 m. For example, a tactor 110 o may recessed inside thebody 120 m if two points on an outer surface of the body 120 m may beconnected by a line without the line intersecting the tactor 110 o. Inanother example, For example, a tactor 110 o may recessed inside anelliptical perimeter of the body 120 m if three points on an outersurface of the body 120 m may be connected by a curve without the curveintersecting the tactor 110 o. In at least one embodiment, a sheardisplay device 100 m having one or more recessed tactors 110 o may allowa higher proportion of the body 120 m to be in contact with a user'shand during use of the shear display device 100 m when compared to ashear display device 100 m having tactors 100 m than are not recessed inthe body 120 m.

FIG. 14B depicts another embodiment of a shear display device 100 n. Theshear display device 100 n may include one or more input mechanisms 102b, similar to those described in relation to FIG. 14A, and a pluralityof tactors 110 p located on a body 120 n. In contrast to the sheardisplay device 100 m of FIG. 14A, the shear display device 100 n of FIG.14B may include three tactors 110 p. The three tactors 110 p may each beconfigured to move along a length of the elongated body 120 n that formsthe grip of the shear display device 100 n. For example, each tactor 110p may be configured to move in a path that is parallel to the paths ofthe other two tactors in the body 120 n. In another example, each tactor110 p may move in a non-parallel path to the other tactors, butgenerally along the length of the elongated body 120 n. A user may gripthe body 120 n to hold onto the feedback device and engage each of thetactors 110 p. Similar to the four tactor design described in relationto the shear display device 100 m of FIG. 14A, the three tactor designof the shear display device 100 n may communicate directionalinformation to a user or simulate a torque applied to a controlledobject.

The three tactors 110 p of the shear display device 100 n may move insimultaneous coordination to produce tactile sensations that a user mayperceive as torque applied about various axes of the shear displaydevice 100 n. While the four tactors 110 o of the shear display device100 m of FIG. 14A are distributed at 90-degree angles from one anotherwith two pairs directly oppose one another, the tactors 110 p of theshear display device 100 n of FIG. 14B may not directly oppose oneanother. The tactors 110 p may at least partly oppose one another. Itshould be understood that “at least partly oppose” may mean that acomponent of a vector may oppose a component of another vector. When auser grips the body 120 n and tactors 110 p of the shear display device100 n, a force applied to each of the tactors 110 p may have a componentof the force that opposes a component of the force applied to anothertactor 110 p. For example, the tactors 110 p may be located at120-degree angles from one another about the body 120 n. The forcesapplied by the tactors in reaction to a user gripping the shear displaydevice 100 n may be oriented at 120-degree angles from one another. Eachof the force vectors lying in a common plane may decompose into at leasttwo components (e.g., X- and Y-direction components) of which at least apair oppose one another. In some embodiments, therefore, tactors havingan angular relation of at least 90-degrees from one another may at leastpartly oppose one another.

The components of the applied forces may allow the respective tactors tomove in coordination and produce a single percept to a user that is aresult of the motion of multiple tactors (110 k′, 110 k″, 110 m′, 110m″) as discussed in connection with FIG. 10B. For further example, the120-degree offset tactors 110 p depicted in FIG. 14B may all move at thesame time to create a perception of torque. A first tactor 110 p maymove up (relative to the body 120 n) and second and third tactors 110 p′and 110 p″ (not shown) may move down. The user may experience themovement of the second and third tactors 110 p′ and 110 p″ as a singletactor moving downward in the opposite direction of the movement of thefirst tactor 110 p upward, which results in a single percept of a torqueabout the X-axis. That is, the resulting perception is that the sheardisplay device 100 n simulates a torque whose rotation is defined aboutthe X-axis and that lies between the first tactor 110 p and the centroid(as described in relation to FIGS. 10A and 10B) between the second andthird tactors 110 p′ and 110 p″. Motion of all of the tactors 110 p, 110p′ and 110 p″ in the same direction may also be used to create theperception of force in the direction of tactor motion. Force and torquecues, using the motion of the tactors 110 p, 110 p′, and 110 p″ can alsobe superimposed and portrayed to a user to represent combined loadingcases, as would be understood by one with ordinary skill in the art.That is, if the tactor motions that correspond to multiple applied loadcases are calculated separately, the resulting tactor motions can beadded together to represent a single percept of the combined loadcondition to the user. For example, if one were holding a virtual rodhorizontally from one end (as one would hold a sword) while pushing itinto a virtual wall (normal to the wall), there are two main loadcomponents: 1) the moment from gravity being applied to the mass of therod and 2) the force along the rod from piercing the wall. The gravityload would result in the tactors on opposite sides of the device (e.g.,+Y and −Y sides of the device) to move in opposite directions, inproportion to the mass of the rod. The tactor motion that represents thepiercing force would be for all of the tactor to move in the−Z-direction. To represent this combined load case, the resulting tactormotions are added together to create a single percept of this combinedloading condition.

FIG. 14C depicts another shear display device 100 o. The shear displaydevice 100 o may be similar to that described in relation to FIG. 14B.The shear display device 100 o may include a body 120 o that includesthree tactors 110 q configured to move in parallel paths relative to thebody 120 o. The tactors 110 q may move relative to one another tocommunicate torque information to a user. At least one of the tactors110 q may move substantially parallel to an axis of the body 120 o. Forexample, the tactor 110 q may move in a first path toward the top of theshear display device 100 o (i.e., toward the input mechanism 102 c inthe depicted embodiment). In another example, the tactor 110 q may movein a second path orthogonal to the first path (i.e. laterally and towardanother tactor 110 q). The tactors 110 q may move in paths that arearcuate, convergent, divergent, or some combination thereof and may beproperly considered “parallel” according to the present disclosure whenthe movement of the tactors 110 q may be perceived by a user asparallel.

The shear display device 100 o may be a wireless shear display devicethat a user may rotate and/or move freely in space. In addition to, theshear display device 100 o may include physical input mechanisms 102 csuch as the described buttons, bumpers, triggers, directional inputs(e.g., thumb joystick), and other input mechanisms and/or may use one ormore accelerometers and/or gyroscopes as input mechanisms 102 c. Theaccelerometers and/or gyroscopes may measure and/or detect the movementand/or orientation of the shear display device 100 o relative to areference position. A reference position may be substantially alignedwith one or more axes of the shear display device 100 o or may beuser-defined. As in FIG. 14B, the shear display device 100 o in FIG. 14Cmay simulate the application of torque about an axis to a user by movingtactors 110 q on opposing sides in opposite directions. Motion of thetactors 110 q in the same direction may also be used to create theperception of force in the direction of tactor motion. The resultingtactor motions from different load cases (from forces and/or torques)may also be combined to create a single percept of the combined loadingcondition. FIGS. 14C-2 through 14C-7 illustrate the shear display deviceof FIG. 14C from a variety of perspectives.

FIG. 14D depicts another shear display device 100 p in accordance withthe present disclosure. The shear display device 100 p may include twotactors 110 r. The two tactors 110 r may move along paths that areparallel to the body 120 p to induce skin shear at a target area of auser's hand. For example, the tactors may move in directions and/orrelative to one another similar to the tactors 110 k described inrelation to FIGS. 10A and B and/or tactors 110 o in relation to FIG.14A. The tactors 110 r may move in an opposite direction to one anotherto create a perception of a torque applied to the user's hand by theshear display device 100 p. The shear display device 100 p may,therefore, simulate the application of torque about an axis to a user.Motion of the tactors 110 o in the same direction may also be used tocreate the perception of force in the direction of tactor motion. Theuse of a plurality of shear display devices 100 p may simulate theapplication of torque about additional axes, as described herein. Theresulting tactor motions from different load cases may also be combinedto create a single percept of the combined loading condition. FIGS.14D-2 through 14D-7 illustrate the shear display device of FIG. 14D froma variety of perspectives.

A shear display device may also be used in conjunction with other sheardisplay devices to provide a system by which a user may perceive forceor torque applied to larger and/or more complex virtual objects than thescale of the shear display device, itself. For example, a plurality ofshear display devices may be connected to simulate a side-by-side gripstructure, such as a steering yoke; an angled grip structure, such as ashotgun grip and stock; or an in-line grip structure, such as a handleof a sword, baseball bat, or axe. FIG. 15A illustrates an embodiment ofa shear display system 500 including a plurality of shear displaydevices 100 o associated with frame 106 a. The frame 106 a may house avisual display 104 a. The visual display 104 a and plurality of sheardisplay devices 100 o may be fixed relative to one another by the frame106 a. In some embodiments, the visual display 104 a may be a tabletcomputer, a computer monitor, a smartphone, a television, a video gameconsole, another electronic visual display, or combinations thereof.

The shear display devices 100 o of the system 500 are depicted havingthree tactors 110 q located at 120-degree relationships to one anotherof the shear display devices 100 o. However, it should be understoodthat the shear display devices 100 n may have more or less than threetactors 110 q and produce the appropriate torque perception, asdescribed herein. As depicted in FIGS. 15A and 15B the shear displaydevices 100 o of the system 500 may include three tactors at 120-degreerelationships to one another and simulate torque information asdescribed in relation to FIG. 14B. Although both shear display devicesare shown as the same type, different shear display devices may be used.For example, a shear display device 100 p with two tactors 110 r may beused with a shear display device 100 m having four tactors 110 o. Othercombinations are also contemplated.

The shear display devices 100 o may provide tactile information usingperceived centroids between tactors 110 q as described in relation toFIG. 14B. The shear display devices 100 o of the system 500 are depictedhaving three tactors 110 q located at 120-degree relationships to oneanother on the shear display devices 100 o.

The system 500 may simulate a torque vector normal to the frame 106 aand/or visual display 104 a by moving a tactor 110 q′ of one of theshear display devices 100 o up and a tactor 110 q″ (not shown) of theother shear display device 100 o in an opposite direction. The resultingskin shear on each of the user's hands may produce the perception of atorque applied by the system 500. In FIG. 15B, the system 500 isillustrated in a perspective view to show tactors 110 q′ and 110 q″ thateach oppose the tactors 110 q. The tactors 110 q′ and 110 q″ may move inan opposite direction to the tactors 110 q to create a perception of atorque applied about a rotation axis 108 parallel to a longitudinal axisof the system 500. The frame 106 a of the system 500 may align the sheardisplay devices 100 o with another component of the system 500. Thealignment of the rotational axis 108 with another component of thesystem 500 may create the perception to a user that the applied torqueis aligned with a rotational axis 108 of the component. For example, theframe 106 a may align the shear display devices 100 o with the visualdisplay 104 a. As described, the relative movement of the tactors 110 q′and 110 q″ relative to tactors 110 q may produce the perception of arotation axis 108. The alignment of the shear display devices 100 o withthe visual display 104 a (or other component of the system 500) by theframe 106 a may allow the perceived rotational axis 108 to extendthrough the visual display 104 a (or other component of the system 500).

FIG. 16 illustrates an embodiment of a shear display device 100 q thatis selectively connectable to a control interface 112 a. In such anembodiment, the user may use the one or more input mechanisms 102 d onthe shear display device 100 q and move the shear display device 100 qrelative to the control interface 112 a to issue instructions to and/orinteract with a controlled object. The tactors 110 s may communicatetactile information to the user via skin shear without substantiallymoving the user's hand relative to a body 120 p. The user may,therefore, move the shear display device 100 q relative to the controlinterface 112 a precisely and accurately irrespective of the tactileinformation conveyed to the user simultaneously. The shear displaydevice 100 q may act as a joystick control when connected to a controlinterface 112 a. When connected to the control interface 112 a, themovement of the shear display device 100 q relative to the controlinterface 112 a may be yet another input mechanism 102 d in addition tothe input mechanisms described herein. For example, the shear displaydevice 100 q may include one or more accelerometers and/or gyroscopes tomeasure the movement of the shear display device 100 q relative to areference position shown in FIG. 16.

In the depicted embodiment, the control interface 112 a is a ball studand may interface with a control interface receiver 114 a on the sheardisplay device 100 q. In other embodiments, the shear display device 100q may include a ball stud to interface with the control interface 112 aand the control interface 112 a may include a complimentary receiver. Inyet other embodiments, a shear display device 100 q may connect to acontrol interface 112 a through any other appropriate connectionmechanism, including but not limited to a threaded, snap fit,interference fit, twist lock (i.e., BNC connection), or other connectionto a tiltable interface on the shear display device 100 q and/or thecontrol interface 112 a. The control interface 112 a and/or receiver 114a may include one or more mechanisms, such as a potentiometer, that maymeasure the position of the shear display device 100 q relative to thecontrol interface 112 a. The control interface 112 a may, therefore,operate as an input mechanism 102 d in addition to or in alternative toinput mechanisms described herein.

FIG. 17 illustrates another embodiment of a shear display system 600,which may include a plurality of shear display devices 100 q and atleast one control interface 112 b. In some embodiments, the sheardisplay system 600 may include a plurality of shear display devices 100q connected to a single control interface 112 b. In other embodiments, aplurality of shear display devices 100 q may be connected to a pluralityof control interfaces 112 b. In the depicted embodiment, the system 600includes two shear display devices 100 q configured to connect with acontrol interface 112 b. The control interface 112 b may receive inputsfrom the position and movement of one or more of the shear displaydevices 100 q relative to the control interface 112 b (e.g., tilting theshear display device 100 q like a joystick) and/or from the position andmovement of the control interface 112 b itself due to the position andmovement of the shear display devices 100 q relative to one another(e.g., movement of the two shear display devices like a steering yoke).

Similar to FIG. 16, the control interface 112 a and/or shear displaydevice 100 q may connect through any other appropriate connectionmechanism, including but not limited to a ball stud, threaded, snap fit,interference fit, twist lock (i.e., BNC connection), or other connectionto a tiltable interface on the shear display device 100 q and/or thecontrol interface 112 a. The movement of one or more of the sheardisplay devices 100 q relative to the control interface 112 b may be yetanother input mechanism 102 d in addition to the input mechanismsdescribed herein. For example, at least one of the shear display devices100 q may include one or more accelerometers and/or gyroscopes tomeasure the movement of the shear display devices 100 q relative to areference position shown in FIG. 17. The control interface 112 b mayinclude one or more mechanisms, such as a potentiometer, that maymeasure the position of one or more the shear display device 100 qrelative to the control interface 112 b. The control interface 112 bmay, therefore, operate as an input mechanism 102 d in addition to or inalternative to input mechanisms described herein.

FIG. 18 depicts a shear display device 100 r that may include opposingtactors 110 t (second tactor 110 t not shown) located on movable arms114. The movable arms 114 may have an opposing “gripper” degree offreedom that can be incorporated into a shear display device 100 r thatuses back-to-back shear displays, shown in FIG. 18. The gripper degreeof freedom may allow the movable arms 114 (shown open in FIG. 18) tomove relative to one another in a direction normal to the surface of thetactors 110 t to simulate the physical act of gripping an object betweenthe tactors 110 t. The movable arms 114 may move simultaneously and inequal amounts away from one another to simulate the expansion of asimulated or remote object. The movable arms 114 may move independentlyof one another to simulate the movement of a simulated or remote object.A user may grip the body 120 q with a thumb and forefinger on a tactor110 t on each of the movable arms 114. The movable arms 114 may moverelative to the body 120 q to simulate lateral movement of the simulatedor remote object. For example, the shear display device 100 r maysimulate the use and/or control or a scalpel. The tactors 110 t may movein opposing directions to communicate torque on the scalpel during aprocedure while the movable arms may communicate gross movement of thescalpel in a lateral direction. The tactors 110 t may move in the samedirection to communicate a force on the scalpel. The movable arms 114may allow the shear displays including tactors 110 t to move normal to aplane of the user's skin while the tactors 110 t themselves may movewith two degrees of freedom within the plane. The opposing tactors 110 tshown in FIG. 18 work on the same principle as described in relation tothe sliding tactors 110 o-q of FIGS. 14A-D. For example, the tactors 110t can be actuated in the same direction to provide translational forceand motion cues in the associated direction. Tactors 110 t on oppositesides of the controller can be moved in opposite direction to createtorque or rotary tactile cues to a user.

FIG. 19A depicts a shear display device 100 s that may be used tosimulate interactions with a virtual interaction point 116. The sheardisplay device 100 s may include one or more tactors 110 u, 110 u′, and110 u″ (not shown) located on a body 120 r that may be held by a user.The one or more tactors 110 u may convey tactile information to a userwhile the user holds the body 120 r. The shear display device 100 s maysimulate a pen, stylus, scalpel, or other elongated tool held in thehand between the forefinger and thumb. The one or more tactors 110 u maycontact one or more fingerpads. The shear display device 100 s mayinclude one or more tactors 110 u configured to engage with another partof the user's hand, such as the palm of the hand. The shear displaydevice 100 s may include one or more input mechanisms 102 e tofacilitate communication with and/or commands to a controlled and/orsimulate object. In some embodiments, the shear display device 100 s mayinclude one or more input mechanisms 102 e located on the body 120 r ofthe shear display device 100 s. In other embodiments, the shear displaydevice 100 s may include one or more input mechanisms 102 e incorporatedinto the tactors 110 u. For example, at least one of the tactors 110 umay be configured to move within a two-dimensional plane substantiallyco-planar with a surface of the body 120 e and the tactor 110 u may bedepressed by a user normal to the two-dimensional plane to effectcommunication with a controlled and/or simulated object (e.g., pressingon the tactor may depress a switch).

The shear display device 100 s may use the one or more tactors 110 u tosimulate interactions with a virtual interaction point remote and/orexternal to the body 120 r of the shear display device 100 s. Forexample, movement of one or more tactors 110 u may simulate torque onthe shear display device 100 s based on a virtual interaction point 116.A plurality of tactors 110 u located on the body 120 r may movesimultaneously, for example in opposing directions, to simulate torqueon the body 120 r. Forces through this same virtual interaction point116 along the length of the device 100 s (along the Z-axis) may also beportrayed by moving all of the tactors 110 u in the same direction, asdiscussed in relation to FIG. 10B. A special case may include a virtualinteraction point 116 in line with the elongated body 120 r of the sheardisplay device 100 s used to replicate a pen, stylus, scalpel, or otherelongated tool. By placing the virtual interaction point 116 external toand in line with the body 120 r, it is possible for the two degrees offreedom of virtual torque to be interpreted as the lateral forcesexperienced at the remote virtual interaction point 116. The torqueexperienced through the body 120 r would be the natural way one wouldexperience the lateral force interactions with the environment at thisremote point. For example, a user may use a stick to push laterally on asurface, resulting in lateral forces on the stick perceived by theforces on the user's hand by the stick. A longer stick may result in arotational moment that is perceived by the user as significantly largerthan the lateral reaction force. In the limit, a user may only perceivethe torque resultant from the interaction, allowing sufficientsimulation of the interaction through only the torque simulation of theplurality of tactors 110 u. Hence 3-dimensional force feedback can beemulated by portraying the force along the Z-axis by moving the tactors110 u all in the same direction, and lateral forces (in the X-Y plane)can emulated by portraying torques about the X and Y axes, by moving thecorresponding tactors 110 u in opposite directions, as discussed inconnection with FIGS. 10B and 14B. Also, as discussed in connection withFIG. 14B, the tactor motions that result from multiple load cases canalso be combined to create a single percept of the combined load cases.FIGS. 19B through 19G illustrate the shear display device of FIG. 19Afrom a variety of perspectives.

FIG. 20 depicts another embodiment of a shear display device 100 t thatmay be used with a virtual interaction point external to a body. Theshear display device 100 t may be similar in configuration to the sheardisplay device 100 o of FIG. 14C. In contrast to the shear displaydevice 100 s of FIG. 19A, the shear display device 100 t shown in FIG.20 is preferably not held between a user's forefinger and thumb similarto a pen, stylus, or scalpel, but rather held by wrapping a user's palmand fingers around a body 120 s of the shear display device 100 t. Thevirtual interaction point 116 may be external to and in line with thebody 120 s such that the movement of a plurality of tactors 110 v maysimulate a reaction force and/or torque with the virtual interactionpoint 116. The tactors 110 v may include a plurality of tactors 110 v inthe body 120 s of the shear display device 100 t.

At least two of the plurality of tactors 110 v may at least partlyoppose one another. For example, the tactors 110 v may be located at120-degree angles from one another about the body 120 s. The forcesapplied by the tactors in reaction to a user gripping the shear displaydevice 100 t may be oriented at 120-degree angles from one another. Eachof the force vectors lying in a common plane may decompose into at leasttwo components (e.g., X- and Y-direction components) of which at least apair oppose one another. In some embodiments, therefore, tactors havingan angular relation of at least 90-degrees from one another may at leastpartly oppose one another. In other embodiments, tactors having anangular relation of less than 270 degrees from one another may at leastpartly oppose one another. In another example, three tactors arranged at120-degree angles from one another about a common axis may all partlyoppose one another (i.e., each tactor partly opposes the other twotactors). As discussed in connection with FIG. 19A, it is also possibleto emulate or portray 3-dimensional force feedback with the use of avirtual interaction point 116. That is, following the same logic asexpressed for above in relation to FIG. 19A, 3-dimensional forcefeedback can be emulated by portraying the force along the Z-axis bymoving the tactors 110 v all in the same direction, and lateral forces(in the X-Y plane) can emulated by portraying torques about the X and Yaxes, by moving the corresponding tactors 110 v in opposite directions,as discussed in connection with FIGS. 10B and 14B. Also, as discussed inconnection with FIG. 14B, the tactor motions that result from multipleload cases can also be combined to create a single percept of thecombined load cases.

FIGS. 21A, 21B, 21C, and 21D are cross-sectional side views of aschematic representation of tactors 110 w, 110 x in shear displaydevices 100 u, 100 v having a flexible materials 118 a, 118 b coveringthe tactors 110 w, 110 x. FIG. 21A illustrates the tactor 110 w in a“home” position while FIG. 21B illustrates the interaction between theflexible material 118 a and the tactor 110 w away from the “home”position for a device 100 u where the outboard surface of the tactor 110w is approximately flush with the outer surface of the device's body 120t. FIG. 21C illustrates the tactor 110 x in a “home” position while FIG.21D illustrates the interaction between the flexible material 118 b andthe tactor 110 x away from the “home” position for a device 100 v wherethe tactor 110 x protrudes from the outer surface of the device's body120 u.

When implementing haptic feedback into a device, the tactor 110 w, 110 xmay be covered by a sheet of flexible material 118 a, 118 b (e.g., arubber membrane) with the appropriate friction properties or connectionbetween the flexible material 118 a, 118 b and tactor 110 w, 110 x so asto transmit friction from the motion of the tactor 110 w, 110 x to theskin of the user's hand through the flexible material 118 a, 118 b.Covering the moving tactor 110 w, 110 x with such a flexible material118 a, 118 b may reduce the sense that there are multiple discretetactors and make the friction forces applied to the user's hand appearmore continuous, contributing to the creation of a single percept. Acovering of flexible material 118 a, 118 b may decrease the chance thatthat a portion of the user's skin could become caught or pinched betweenthe moving tactors and the body 120 t, 120 u of the shear display device100 u, 100 v. A covering of flexible material 118 a, 118 b may act as aprotective cover to prevent particulates or moisture from getting intothe body 120 t, 120 u of the shear display device 100 u, 120 v.

FIG. 22 schematically depicts a cross-section of a shear display device100 v that may include a microprocessor 122 and memory 124 incommunication with one or more motors 160 g or other actuators (e.g.,geared motor, motor and linkage, motor and cam, motor and leadscrew,etc.) to move one or more tactors 110 x relative to a body 120 u. Thememory 124 may include a memory module. When the shear display device100 v is used to interact with a virtual and/or remote controlled objector device, the memory 124 may contain and/or receive movement and/orforce information. The memory 124 may communicate with themicroprocessor 122 to allow the microprocessor access to theinformation. The microprocessor 122 may actuate one or more motors 160 gor other actuators connected to one or more tactors 110 x to simulateinteractions with virtual and/or remote objects. For example, the sheardisplay device 100 v may be used to communicate with a virtual arm in asimulated environment. The virtual arm may replicate the shear displaydevice 100 v or may have different dimensions. If the virtual arm sharesdimensions with the shear display device 100 v, the microprocessor 122may use movement and/or force information from the simulation in memory124 to actuate one or more motors 160 g to simulate the shear displaydevice interacting with objects in the simulated environment. If thevirtual arm does not share one or more dimensions with the shear displaydevice 100 v, the microprocessor 122 may use movement and/or forceinformation from the simulation in memory 124 to calculate interactionsbetween the simulated environment and a virtual interaction point (suchas virtual interaction point 116 described in relation to FIGS. 19 and20). The microprocessor 122 may then actuate one or more motors 160 g tosimulate interaction of the simulated environment and the virtualinteraction point.

The described shear display device 100 v may not require the software orcomputer system controlling the remote and/or virtual object or deviceto provide to the shear display device 100 v force or torque informationor information regarding displacement, position, and/or movement oftactors 110 x. The described shear display device 100 v may calculate anappropriate displacement, position, and/or movement of tactors 110 xprovided information regarding the position, movement, force, torque, orcombinations thereof of the virtual and/or remote controlled object ordevice and the simulated environment.

Further, the methods may be practiced by a computer system including oneor more processors and computer readable media such as computer memory.In particular, the computer memory may store computer executableinstructions that when executed by one or more processors cause variousfunctions to be performed, such as the acts recited in the embodiments,and may include pre-recorded tactor motions that represent hapticeffects such as the kick-back impulse of a virtual gun shot or impact ofa virtual sword.

Embodiments of the present disclosure may comprise or utilize a specialpurpose or general-purpose computer including computer hardware.Embodiments within the scope of the present disclosure also includephysical and other computer-readable media for carrying or storingcomputer-executable instructions and/or data structures. Suchcomputer-readable media can be any available media that can be accessedby a general purpose or special purpose computer system.Computer-readable media that store computer-executable instructions arephysical storage media. Computer-readable media that carrycomputer-executable instructions are transmission media. Thus, by way ofexample, and not limitation, embodiments of the invention can compriseat least two distinctly different kinds of computer-readable media:physical computer readable storage media and transmission computerreadable media.

Physical computer readable storage media includes RAM, ROM, EEPROM,CD-ROM or other optical disk storage (such as CDs, DVDs, etc.), magneticdisk storage or other magnetic storage devices, or any other mediumwhich can be used to store desired program code means in the form ofcomputer-executable instructions or data structures and which can beaccessed by a general purpose or special purpose computer.

FIGS. 23A through 23C depict various embodiments of a shear displaydevice having a restraining device attached to the body and configuredto hold a user's hand proximate the shear display device. FIG. 23A showsa shear display device 100 w with a strap 126 a connecting to a firstend and a second end of a body 120 v. The strap 126 a may include one ormore adjustments to accommodate hands of various sizes. The strap 126 amay limit the movement of a user's hand relative to the body 120 v. Thestrap 126 a may limit the movement of a user's hand longitudinally,rotationally, laterally, or combinations thereof. For example, FIG. 23Bdepicts an embodiment of a shear display device 100 w having a strap 126b with a thumb band 128 extending around a side of a user's hand. Thethumb band 128 may further limit the rotational and longitudinalmovement of a user's hand when compared to the strap 126 a of FIG. 23A.In another example, FIG. 23C depicts an embodiment of a shear displaydevice 100 w having a strap 126 c with a thumb band 128 extending arounda side of a user's hand and connecting at the second end of the body 120v and laterally opposing the connection point of the strap 126 c at thesecond end of the body 120 v. The strap 126 c and thumb band 128depicted in FIG. 23C may further limit the rotational movement of auser's hand when compared to the strap 126 b described in relation toFIG. 23B.

The addition of a strap 126 a-c and grasp sensing to a shear displaydevice 100 w may provide a hybrid product solution between a virtualglove (e.g., CYBERGLOVE) and a motion controller (e.g., a NINTENDOWII-MOTE). A strap 126 a-c allows the user of the shear display device100 w to open their hand without dropping the shear display device 100 wand also helps to prevent accidentally throwing the shear display device100 w as the user moves their hands (as commonly occurred when theNINTENDO WII-MOTE was first introduced). Grasp sensing that tracks theuser's finger locations relative to the device handle (e.g., usingoptical or capacitive sensing) can be used to tune or adjust the controlof haptic feedback on the device or as an input for virtual orteleoperated interaction (e.g., to control the positions of fingers of avirtual hand or teleoperated robot hand).

The articles “a,” “an,” and “the” are intended to mean that there areone or more of the elements in the preceding descriptions. The terms“comprising,” “including,” and “having” are intended to be inclusive andmean that there may be additional elements other than the listedelements. Additionally, it should be understood that references to “oneembodiment” or “an embodiment” of the present disclosure are notintended to be interpreted as excluding the existence of additionalembodiments that also incorporate the recited features. Numbers,percentages, ratios, or other values stated herein are intended toinclude that value, and also other values that are “about” or“approximately” the stated value, as would be appreciated by one ofordinary skill in the art encompassed by embodiments of the presentdisclosure. A stated value should therefore be interpreted broadlyenough to encompass values that are at least close enough to the statedvalue to perform a desired function or achieve a desired result. Thestated values include at least the variation to be expected in asuitable manufacturing or production process, and may include valuesthat are within 5%, within 1%, within 0.1%, or within 0.01% of a statedvalue.

A person having ordinary skill in the art should realize in view of thepresent disclosure that equivalent constructions do not depart from thespirit and scope of the present disclosure, and that various changes,substitutions, and alterations may be made to embodiments disclosedherein without departing from the spirit and scope of the presentdisclosure. Any element and/or embodiment described in relation to anyFigure may be combined with any other element and/or embodimentdescribed herein.

Equivalent constructions, including functional “means-plus-function”clauses are intended to cover the structures described herein asperforming the recited function, including both structural equivalentsthat operate in the same manner, and equivalent structures that providethe same function. It is the express intention of the applicant not toinvoke means-plus-function or other functional claiming for any claimexcept for those in which the words ‘means for’ appear together with anassociated function. Each addition, deletion, and modification to theembodiments that falls within the meaning and scope of the claims is tobe embraced by the claims.

The terms “approximately,” “about,” and “substantially” as used hereinrepresent an amount close to the stated amount that still performs adesired function or achieves a desired result. For example, the terms“approximately,” “about,” and “substantially” may refer to an amountthat is within less than 5% of, within less than 1% of, within less than0.1% of, and within less than 0.01% of a stated amount. Further, itshould be understood that any directions or reference frames in thepreceding description are merely relative directions or movements. Forexample, any references to “up” and “down” or “above” or “below” aremerely descriptive of the relative position or movement of the relatedelements.

The present disclosure may be embodied in other specific forms withoutdeparting from its spirit or characteristics. The described embodimentsare to be considered as illustrative and not restrictive. The scope ofthe disclosure is, therefore, indicated by the appended claims ratherthan by the foregoing description. Changes that come within the meaningand range of equivalency of the claims are to be embraced within theirscope.

We claim:
 1. A method for displaying force and movement informationrelated to one or more objects, the method comprising: receivinginformation about one or more of movement of an object, forcesexperienced by the object, and torques experienced by the object;displaying the information to a user by concurrently stretching aplurality of portions of user's skin with a plurality of tactors of oneor more shear display devices; and wherein at least one tactor of theplurality of tactors moves in a two-dimensional space or in athree-dimensional space.
 2. The method of claim 1, wherein displayingthe information to a user includes rotating at least one of theplurality of tactors relative to a body of one of the one or more sheardisplay devices.
 3. The method of claim 1, wherein at least two tactorsof the plurality of tactors move in a two-dimensional space or in athree-dimensional space.
 4. The method of claim 3, wherein the at leasttwo tactors of the plurality of tactors move in substantially oppositedirections to concurrently stretch a plurality of portions of user'sskin.
 5. The method of claim 1, wherein displaying the information to auser includes moving at least one of the plurality of tactors along anon-planar path that follows at least one non-planar surface of a bodyof the one or more shear display devices.
 6. The method of claim 1,wherein displaying the information to a user includes moving at leastone of the plurality of tactors using a flexible spine connected to anactuator.
 7. The method claim 1, wherein displaying the information to auser includes stretching a plurality of portions of user's skin with aplurality of tactors of one or more shear display devices based on asimulated interaction with a remote virtual interaction point outside abody of the one or more shear display devices.
 8. The method of claim 1,wherein at least two of the plurality of tactors are located in opposingdirections from one another.
 9. A method for displaying force andmovement information related to one or more objects, the methodcomprising: receiving information about one or more of rotations of anobject and torque experienced by the object; isolating a first portionof a user's skin relative to a body of a shear display device; moving afirst tactor of the shear display device in a first direction, the firsttactor being in contact with the isolated first portion of the user'sskin; isolating a second portion of a user's skin relative to a body ofthe shear display device; and moving a second tactor of the sheardisplay device in a second direction, the second tactor being in contactwith the isolated second portion of the user's skin, the seconddirection being opposite to the first direction.
 10. The method of claim9, wherein moving the first tactor includes moving the first tactoralong a linear path and wherein moving the second tactor includes movingthe second tactor along a linear path.
 11. The method of claim 9,wherein moving the first tactor includes moving the first tactor alongan arcuate path and wherein moving the second tactor includes moving thesecond tactor along an arcuate path.
 12. The method of claim 9, furthercomprising: isolating a third portion of a user's skin relative to thebody of the shear display device; and moving a third tactor of the sheardisplay device in the second direction along a linear path, the thirdtactor being in contact with the isolated third portion of the user'sskin.
 13. The method of claim 9, wherein the second direction isopposite to the first direction and away from or towards the firsttactor.
 14. The method of claim 9, wherein: the first tactor has a firstarea, the first tactor being positioned and oriented relative to thebody to engage a portion of the user's skin having a first density ofmechanoreceptors; the second tactor has a second area, the second tactorbeing positioned and oriented relative to the body to engage a portionof the user's skin having a second density of mechanoreceptors; andwherein: the first area has a first proportion relative to the firstdensity of mechanoreceptors; and the second area has a second proportionrelative to the second density of mechanoreceptors.
 15. The method ofclaim 14, wherein the first proportion and the second proportion areapproximately equal.
 16. A shear display device for displaying tactileinformation and cues to a user, the device comprising: a first body; afirst tactor positioned along a portion of the first body, the firsttactor being movable along a length of the portion of the first body ina first path; and a second tactor positioned along the portion of thefirst body, the second tactor being movable along the length of theportion of the first body in a second path, the second tactor being atleast partly opposite to the first tactor.
 17. The device of claim 16further comprising a third tactor being movable in a third path, thethird path being parallel to the first path or the second path.
 18. Thedevice of claim 17 further comprising a fourth tactor movable in afourth path, the fourth tactor being at least partially opposite to thethird tactor.
 19. The device of claim 18, wherein the third tactor andfourth tactor are positioned along a length of a second body, the secondbody being fixed relative to the first body.
 20. The device of claim 16,further comprising: One or more motors configured to move the firsttactor and second tactor; a microprocessor in electrical communicationwith the one or more motors; and a memory module in data communicationwith the microprocessor, wherein the memory module is configured toprovide data to the microprocessor and the microprocessor is configuredto calculate a displacement amount of the first tactor and second tactorbased at least partially upon the data and actuate the one or moremotors to move the first tactor and second tactor the displacementamount.